Robot roller screw motor screw displacement detection device and roller screw motor

Abstract

The utility model relates to a robot roller screw motor lead screw displacement detection device and a roller screw motor, the roller screw motor comprises a motor rotor and a motor lead screw, the motor rotor drives the motor lead screw to move linearly when rotating, the detection device comprises a first gear, a second gear, a first magnetic encoder and a second magnetic encoder, the first gear is fixedly connected to the tail end of the motor rotor; the second gear is arranged on the motor shell, the second gear is meshed with the first gear, and the second gear is driven by the first gear to rotate; the first magnetic encoder is arranged on the first gear and is used for detecting a first angle of the first gear; the second magnetic encoder is arranged on the second gear and is used for detecting a second angle of the second gear; wherein the tooth number of the first gear is not equal to that of the second gear; the first angle, the second angle and the difference between the number of teeth of the first gear and the number of teeth of the second gear are used for obtaining the displacement of the lead screw. According to the utility model, the accuracy of lead screw displacement detection can be improved.

Description

Technical Field

[0001] The utility model relates to the detection field, in particular to a robot roller screw motor lead screw displacement detection device and a roller screw motor. Background Art

[0002] With the development of industrial technology, robots have been widely used in various fields such as industrial production, detection, and medical services. Robots used in industrial production and detection need to have movable mechanical arms to complete more complex tasks, and the robot joints are used to enable the mechanical arms to have more degrees of freedom.

[0003] The robot joints are usually controlled by roller screw motors. Roller screw motors are motors that convert rotary motion into linear motion, or convert linear motion into rotary motion. In order to better control the tiny movements of the robot joints, it is necessary to accurately detect the displacement of the roller screw motor screw.

[0004] In the prior art, linear displacement sensors such as potentiometers, photoelectric encoders, and magnetic linear displacement sensors are usually used to directly measure linear displacement. This method has high measurement accuracy and stability, but is costly and requires specialized sensor equipment. In the prior art, inertial sensors such as accelerometers and gyroscopes can also be used to measure linear displacement. This method does not rely on external sensor devices, has a smaller size and cost, and is suitable for some portable or embedded applications; however, inertial sensors are susceptible to interference such as vibration and acceleration changes, which may lead to accumulation of measurement errors.

[0005] It can be seen that in the prior art, the displacement of the lead screw of the robot roller screw motor cannot be accurately detected. Utility Model Content

[0006] In order to solve the above technical problem or at least partially solve the above technical problem, the utility model provides a robot roller screw motor lead screw displacement detection device and a roller screw motor.

[0007] In a first aspect, the utility model provides a robot roller screw motor lead screw displacement detection device, wherein the roller screw motor comprises a motor stator, a motor rotor, an internal support structure, a motor housing and a motor lead screw, wherein the motor stator is fixedly connected to the internal support structure, the motor housing is wrapped around the outside of the internal support structure, the motor rotor is movably connected to the internal support structure, the motor rotor can rotate relative to the motor stator, and when the motor rotor rotates, the motor lead screw is driven to move linearly,

[0008] The detection device comprises: a first gear, a second gear, a first magnetic encoder and a second magnetic encoder,

[0009] The first gear is fixedly connected to the end of the motor rotor, and the first gear rotates together with the motor rotor;

[0010] The second gear is arranged on the motor housing, the second gear is meshed with the first gear, and the second gear rotates under the drive of the first gear;

[0011] The first magnetic encoder is arranged on the first gear and is used to detect a first angle of the first gear;

[0012] The second magnetic encoder is disposed on the second gear and is used to detect a second angle of the second gear;

[0013] Wherein, the number of teeth of the first gear is not equal to the number of teeth of the second gear;

[0014] The first angle, the second angle, and the difference between the number of teeth of the first gear and the number of teeth of the second gear are used to obtain the displacement of the lead screw.

[0015] Optionally, the end surface of the first gear is fixedly connected to the end of the motor rotor.

[0016] Optionally, the first gear includes a first gear plate and a first gear shaft, the first gear shaft is arranged at the center of the first gear plate, the first gear shaft and the first gear plate are fixedly connected, and the first gear shaft is fixedly connected to the end of the motor rotor.

[0017] Optionally, the first gear includes a third gear plate and a third sleeve, the third sleeve is concentrically arranged with the third gear plate, the third sleeve is fixedly connected with the third gear plate, and the inner wall of the third sleeve is fixedly connected with the outer wall of the end of the motor rotor.

[0018] Optionally, the first magnetic encoder includes:

[0019] a first magnetic unit, wherein the first magnetic unit is fixedly connected to the first gear, the first magnetic unit rotates along with the rotation of the first gear, and the first magnetic unit generates a changing first magnetic field when rotating;

[0020] A first sensor, configured to sense a change in the first magnetic field and output a changed first electrical signal according to the change in the first magnetic field;

[0021] The first output device is used to output the first angle corresponding to the rotation angle of the first gear according to the first electrical signal.

[0022] Optionally, the first magnetic unit is adhered to the end surface of the first gear away from the motor housing, or

[0023] The first magnetic unit is embedded in the end surface of the first gear away from the motor housing.

[0024] Optionally, the second gear includes a second gear plate and a second gear shaft, the second gear shaft is arranged at the center of the second gear plate, the second gear plate rotates around the second gear shaft, and the second gear shaft is fixedly connected to the motor housing.

[0025] Optionally, the second magnetic encoder includes:

[0026] a second magnetic unit, wherein the second magnetic unit is fixedly connected to the second gear, the second magnetic unit rotates along with the rotation of the second gear, and the second magnetic unit generates a changing second magnetic field when rotating;

[0027] a second sensor, configured to sense a change in the second magnetic field and output a changed second electrical signal according to the change in the second magnetic field;

[0028] The second output device is used to output the second angle corresponding to the rotation angle of the second gear according to the second electrical signal.

[0029] Optionally, the second magnetic unit is adhered to the end surface of the second gear away from the motor housing, or

[0030] The second magnetic unit is embedded in the end surface of the second gear away from the motor housing.

[0031] In a second aspect, a robot roller screw motor is provided, comprising a motor stator, a motor rotor, an internal support structure, a motor housing and a motor screw, wherein the motor stator is fixedly connected to the internal support structure, the motor housing is wrapped around the outside of the internal support structure, the motor rotor is movably connected to the internal support structure, the motor rotor can rotate relative to the motor stator, and when the motor rotor rotates, the motor screw is driven to move linearly, and the robot roller screw motor also includes the detection device as described above.

[0032] The utility model relates to a robot roller screw motor lead screw displacement detection device and a roller screw motor. The roller screw motor comprises a motor stator, a motor rotor, an internal support structure, a motor housing and a motor lead screw. The detection device comprises: a first gear, a second gear, a first magnetic encoder and a second magnetic encoder. The first gear is fixedly connected to the end of the motor rotor, and the first gear rotates with the motor rotor; the second gear is arranged on the motor housing, the second gear meshes with the first gear, and the second gear rotates under the drive of the first gear; the first magnetic encoder is arranged on the first gear, and is used to detect a first angle of the first gear; the second magnetic encoder is arranged on the second gear, and is used to detect a second angle of the second gear; wherein the number of teeth of the first gear is not equal to the number of teeth of the second gear; the first angle, the second angle and the difference between the number of teeth of the first gear and the number of teeth of the second gear are used to obtain the lead screw displacement. In the utility model, by detecting the first angle of the first gear and the second angle of the second gear, and through the first angle and the second angle, and the difference in the number of teeth between the first gear and the second gear, the number of full rotations of the motor rotor can be obtained, so that the actual rotation angle of the motor rotor, that is, the total rotor angle, can be obtained. The total rotor angle corresponds to the screw displacement. Therefore, the utility model solves the problem of inaccurate detection of the lead screw displacement of the roller screw motor caused by the inability to accurately count after the motor rotor rotates more than one full circle in the prior art, and can improve the accuracy of the lead screw displacement detection of the roller screw motor, thereby being able to more accurately control the robot joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings herein are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present utility model, and together with the description, are used to explain the principles of the present utility model.

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0035] Figure 1 The figure shows a cross-sectional schematic diagram of a roller screw motor according to an embodiment of the utility model;

[0036] Figure 2 The figure shows a schematic diagram of the structure of a roller screw motor according to an embodiment of the utility model;

[0037] Among them, 1. motor rotor; 2. first gear; 3. first magnetic encoder; 4. second gear; 5. second magnetic encoder; 6. motor screw. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of 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.

[0039] refer to Figure 1 and Figure 2 As shown, in the embodiment of the utility model, the roller screw motor includes a motor stator, a motor rotor 1, an internal support structure, a motor housing and a motor screw 6, wherein the motor stator is fixedly connected to the internal support structure, the motor housing is wrapped around the outside of the internal support structure, the motor rotor 1 is movably connected to the internal support structure, the motor rotor 1 can rotate relative to the motor stator, and the motor rotor 1 drives the motor screw 6 to move linearly when rotating.

[0040] The detection device comprises: a first gear 2, a second gear 4, a first magnetic encoder 3 and a second magnetic encoder 5,

[0041] The first gear 2 is fixedly connected to the end of the motor rotor 1, and the first gear 2 rotates together with the motor rotor 1;

[0042] The second gear 4 is disposed on the motor housing, the second gear 4 is meshed with the first gear 2, and the second gear 4 rotates under the drive of the first gear 2;

[0043] The first magnetic encoder 3 is arranged on the first gear 2, and is used to detect a first angle of the first gear 2;

[0044] The second magnetic encoder 5 is disposed on the second gear 4 and is used to detect a second angle of the second gear 4;

[0045] Wherein, the number of teeth of the first gear 2 is not equal to the number of teeth of the second gear 4;

[0046] The first angle, the second angle, and the difference between the number of teeth of the first gear and the number of teeth of the second gear are used to obtain the displacement of the lead screw.

[0047] In the embodiment of the utility model, the motor rotor 1 can rotate relative to the motor stator. The motor rotor 1 can rotate inside the motor stator, or the motor stator can be inside and the motor rotor 1 can rotate outside the motor stator.

[0048] The roller screw motor lead screw displacement detected by the present invention generally refers to the lead screw displacement of the motor lead screw 6. The motor lead screw 6 is connected to the motor rotor 1 by means of threads or the like, and the motor lead screw 6 is connected to the internal support structure. When the motor rotor 1 rotates, the rotational motion is converted into the linear motion of the motor lead screw 6 by means of threads or the like, so the rotation angle of the motor rotor 1 corresponds to the lead screw displacement of the motor lead screw 6.

[0049] In the prior art, the magnetic encoder can detect the angle difference of the motor rotor 1 relative to the starting position when it stops, but if the motor rotor 1 rotates more than one full circle, it cannot be counted accurately, resulting in inaccurate detection results. For example, the magnetic encoder detects that the motor rotor 1 rotates 90 degrees relative to the starting position when it stops, but it cannot confirm whether the motor rotor 1 rotates 90 degrees or one full circle plus 90 degrees, that is, it cannot confirm whether it rotates 90 degrees or 450 degrees. As the complexity of robot joints increases, in order to control the movement of robot joints, the rotor of the roller screw motor may have to rotate more degrees to make the motor screw produce a larger displacement to achieve the purpose, that is, the angle of rotation of the motor rotor is likely to exceed 360 degrees. In the prior art, it is difficult to achieve high accuracy by simply using a magnetic encoder to detect the angle of the motor rotor 1, which also makes it difficult to accurately control the robot joints.

[0050] In the embodiment of the utility model, the motor rotor 1 rotates one circle, and the first gear 2 arranged on the motor rotor 1 also rotates one circle, for example, both rotate 360 ​​degrees, but because the number of teeth of the first gear 2 and the second gear 4 are not equal and the first gear 2 and the second gear 4 are meshed and rotated, the second gear 4 also rotates, but the rotation degree is not equal to 360 degrees.

[0051] If the number of teeth of the first gear 2 and the number of teeth of the second gear 4 are known, the rotation angle of the second gear 4 can be obtained. Assuming that the number of teeth of the first gear 2 is A and the number of teeth of the second gear 4 is B, then the first gear 2 rotates M degrees and the second gear 4 rotates M*A / B degrees.

[0052] Since the number of teeth of the first gear 2 and the number of teeth of the second gear 4 are known, the difference between the rotation angle of the first gear 2 and the rotation angle of the second gear 4 can be obtained every time the motor rotor 1 rotates one circle. Therefore, if the rotation angle of the first gear 2 and the rotation angle of the second gear 4 can be detected, that is, the difference between the rotation angle of the first gear 2 and the rotation angle of the second gear 4 can be known, then it can be known how many full circles the motor rotor 1 has rotated.

[0053] In the embodiment of the utility model, the first angle, the second angle and the difference in the number of teeth between the first gear 2 and the second gear 4 are used to obtain the displacement of the lead screw.

[0054] In the embodiment of the utility model, the first gear 2 is arranged at the end of the motor rotor 1, and the second gear 4 is arranged on the motor housing. The first gear 2 is arranged at the end of the motor rotor 1, and the second gear 4 is arranged on the motor housing. The first gear 2 and the second gear 4 are meshed with each other and have different numbers of teeth. By detecting the first angle of the first gear 2 and the second angle of the second gear 4, and through the first angle and the second angle, and the difference in the number of teeth of the first gear 2 and the second gear 4, the number of full revolutions of the motor rotor 1 can be obtained, so that the actual rotation angle of the motor rotor 1 can be obtained, which solves the problem of inaccurate screw displacement detection caused by the inability to accurately count after the motor rotor 1 rotates more than one full revolution in the prior art, and can improve the accuracy of screw displacement detection, so as to more accurately control the robot joints.

[0055] In the embodiment of the utility model, the first angle, the second angle and the difference in the number of teeth between the first gear 2 and the second gear 4 are used to obtain the displacement of the lead screw.

[0056] In the embodiment of the utility model, the number of teeth of the first gear 2 is A, and the first angle output by the first magnetic encoder 3 at the initial moment is E1 Zero , the first angle at the stop moment output by the first magnetic encoder 3 is E1, then the first rotation angle is E1-E1 Zero .

[0057] Similarly, let the difference in the number of teeth between the first gear 2 and the second gear 4 be X, that is, the number of teeth of the second gear 4 is A+X. The second angle at the initial moment output by the second magnetic encoder 5 is E2 Zero , the second angle at the stop moment output by the second magnetic encoder 5 is E2, then the first rotation angle is E2-E2 Zero .

[0058] Ea is the first magnetic encoder parameter.

[0059] The first reference value

[0060] Q1=((E1-E1 Zero )–(E2-E2 Zero )) / (Ea / A / X).

[0061] Q1 is rounded down to the integer Q, which is the number of full rotations.

[0062] The total rotor angle of the electronic rotor E=Q*Ea+E1.

[0063] The telescopic displacement ratio of the motor screw is P, and the maximum displacement of the roller screw is La, so the screw displacement is L=La–E*P.

[0064] The number of full revolutions of the motor rotor 1 is obtained by the first angle, the second angle, and the difference in the number of teeth of the first gear 2 and the second gear 4, and the subsequent process of obtaining the displacement of the lead screw can be obtained by simple arithmetic operations such as addition, subtraction, multiplication and division in the above formula. The subsequent arithmetic operations can be completed by the subsequent calculation circuit, which can be composed of basic circuit devices such as AND gates, NOT gates, amplifiers, counters, triggers, etc., or the calculation circuit can be composed of other devices that can complete addition, subtraction, multiplication and division, or the calculation circuit can be an integrated circuit chip in the prior art, or the calculation circuit can be composed of multiple integrated circuit chips in the prior art, or the calculation circuit can be a part of the calculation module in the robot main control chip in the prior art, which will not be repeated here.

[0065] In the embodiment of the present invention, the subsequent calculation process is not implemented by computer software or computer program.

[0066] In other embodiments of the present invention, even if the subsequent calculation process can be implemented by computer software in the prior art, it is only for calculating the displacement of the lead screw through the data detected in the embodiments of the present invention. The present invention protects the structure and improvement of the hardware part as above, and the subsequent calculation that may be implemented by computer software may be prior art, and the present invention does not improve the computer software that may be used.

[0067] In the embodiment of the present invention, the difference between the number of teeth of the first gear 2 and the number of teeth of the second gear 4 is 1.

[0068] The embodiments of the present utility model provide several structures of the first gear 2 , wherein the end surface of the first gear 2 is fixedly connected to the end of the motor rotor 1 .

[0069] In an embodiment of the utility model, the first gear 2 includes a first gear plate and a first gear shaft, the first gear shaft is arranged at the center of the first gear plate, the first gear shaft and the first gear plate are fixedly connected, and the first gear shaft is fixedly connected to the end of the motor rotor 1.

[0070] In the embodiment of the utility model, the first gear 2 includes a third gear plate and a third sleeve, the third sleeve is concentrically arranged with the third gear plate, the third sleeve is fixedly connected with the third gear plate, and the inner wall of the third sleeve is fixedly connected with the outer wall of the end of the motor rotor 1.

[0071] In the embodiment of the utility model, the structure of the first gear 2 also has other forms, and the fixed connection between the first gear 2 and the motor rotor 1 also has various forms, which will not be described in detail here.

[0072] In the embodiment of the utility model, the first magnetic encoder 3 comprises:

[0073] a first magnetic unit, wherein the first magnetic unit is fixedly connected to the first gear 2, the first magnetic unit rotates along with the rotation of the first gear 2, and the first magnetic unit generates a changing first magnetic field when rotating;

[0074] A first sensor, configured to sense a change in the first magnetic field and output a changed first electrical signal according to the change in the first magnetic field;

[0075] The first output device is used to output the first angle corresponding to the rotation angle of the first gear 2 according to the first electrical signal.

[0076] The first magnetic encoder 3 may be a magnetic encoder in the prior art, or other forms of devices with the same or similar functions, which will not be described in detail here.

[0077] In the embodiment of the utility model, Figure 2 As shown, the first magnetic unit is adhered to the end surface of the first gear 2 away from the motor housing, or

[0078] The first magnetic unit is embedded in the end surface of the first gear 2 away from the motor housing.

[0079] In the embodiment of the utility model, the second gear 4 includes a second gear plate and a second gear shaft, the second gear shaft is arranged at the center of the second gear plate, the second gear plate rotates around the second gear shaft, and the second gear shaft is fixedly connected to the motor housing.

[0080] In the embodiment of the utility model, the structure of the second gear 4 also has other forms, and the connection between the second gear 4 and the motor housing also has various forms, which will not be described in detail here.

[0081] In the embodiment of the utility model, the second magnetic encoder 5 comprises:

[0082] a second magnetic unit, wherein the second magnetic unit is fixedly connected to the second gear 4, the second magnetic unit rotates along with the rotation of the second gear 4, and the second magnetic unit generates a changing second magnetic field when rotating;

[0083] a second sensor, configured to sense a change in the second magnetic field and output a changed second electrical signal according to the change in the second magnetic field;

[0084] The second output device is used to output the second angle corresponding to the rotation angle of the second gear 4 according to the second electrical signal.

[0085] The second magnetic encoder 5 may be a magnetic encoder in the prior art, or other forms of devices with the same or similar functions, which will not be described in detail here.

[0086] In the embodiment of the utility model, Figure 2 As shown, the second magnetic unit is adhered to the end surface of the second gear 4 away from the motor housing, or

[0087] The second magnetic unit is embedded in the end surface of the second gear 4 away from the motor housing.

[0088] In the embodiment of the utility model, a pair of gears with a difference in the number of teeth and meshing with each other can accurately detect the integer number of revolutions of the motor rotor 1, thereby accurately detecting the displacement of the lead screw of the roller screw motor, with high accuracy, simple structure and low cost. In addition, in the embodiment of the utility model, a pair of gears with a difference in the number of teeth and meshing with each other and a magnetic encoder are used for detection, without the need to add other sensors, which can reduce interference in the system.

[0089] The utility model also provides a robot roller screw motor, including a motor stator, a motor rotor, an internal support structure, a motor housing and a motor screw, wherein the motor stator is fixedly connected to the internal support structure, the motor housing is wrapped around the outside of the internal support structure, the motor rotor is movably connected to the internal support structure, the motor rotor can rotate relative to the motor stator, and when the motor rotor rotates, the motor screw drives the motor screw to move linearly, and the robot roller screw motor also includes the detection device as described above.

[0090] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0091] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features applied herein.

Claims

1. A robot roller screw motor lead screw displacement detection device, characterized in that: The roller screw motor comprises a motor stator, a motor rotor, an internal support structure, a motor housing and a motor screw, wherein the motor stator is fixedly connected to the internal support structure, the motor housing is wrapped around the outside of the internal support structure, the motor rotor is movably connected to the internal support structure, the motor rotor can rotate relative to the motor stator, and the motor screw is driven to move linearly when the motor rotor rotates. The detection device comprises: a first gear, a second gear, a first magnetic encoder and a second magnetic encoder, The first gear is fixedly connected to the end of the motor rotor, and the first gear rotates together with the motor rotor; The second gear is arranged on the motor housing, the second gear is meshed with the first gear, and the second gear rotates under the drive of the first gear; The first magnetic encoder is arranged on the first gear and is used to detect a first angle of the first gear; The second magnetic encoder is disposed on the second gear and is used to detect a second angle of the second gear; Wherein, the number of teeth of the first gear is not equal to the number of teeth of the second gear; The first angle, the second angle, and the difference between the number of teeth of the first gear and the number of teeth of the second gear are used to obtain the displacement of the lead screw.

2. The detection device according to claim 1, characterized in that: The end surface of the first gear is fixedly connected to the end of the motor rotor.

3. The detection device according to claim 1, characterized in that: The first gear includes a first gear plate and a first gear shaft, the first gear shaft is arranged at the center of the first gear plate, the first gear shaft and the first gear plate are fixedly connected, and the first gear shaft is fixedly connected to the end of the motor rotor.

4. The detection device according to claim 1, characterized in that: The first gear includes a third gear plate and a third sleeve, the third sleeve is concentrically arranged with the third gear plate, the third sleeve is fixedly connected with the third gear plate, and the inner wall of the third sleeve is fixedly connected with the outer wall of the end of the motor rotor.

5. The detection device according to claim 1, characterized in that: The first magnetic encoder comprises: a first magnetic unit, wherein the first magnetic unit is fixedly connected to the first gear, the first magnetic unit rotates along with the rotation of the first gear, and the first magnetic unit generates a changing first magnetic field when rotating; A first sensor, configured to sense the first magnetic field and output a first electrical signal according to the first magnetic field; The first output device is used to output the first angle corresponding to the rotation angle of the first gear according to the first electrical signal.

6. The detection device according to claim 5, characterized in that: The first magnetic unit is adhered to the end surface of the first gear away from the motor housing, or The first magnetic unit is embedded in the end surface of the first gear away from the motor housing.

7. The detection device according to claim 1, characterized in that: The second gear includes a second gear plate and a second gear shaft, the second gear shaft is arranged at the center of the second gear plate, the second gear plate rotates around the second gear shaft, and the second gear shaft is fixedly connected to the motor housing.

8. The detection device according to claim 1, characterized in that: The second magnetic encoder comprises: a second magnetic unit, wherein the second magnetic unit is fixedly connected to the second gear, the second magnetic unit rotates along with the rotation of the second gear, and the second magnetic unit generates a changing second magnetic field when rotating; a second sensor, configured to sense the second magnetic field and output a second electrical signal according to the second magnetic field; The second output device is used to output the second angle corresponding to the rotation angle of the second gear according to the second electrical signal.

9. The detection device according to claim 8, characterized in that: The second magnetic unit is adhered to the end surface of the second gear away from the motor housing, or The second magnetic unit is embedded in the end surface of the second gear away from the motor housing.

10. A robot roller screw motor, characterized in that: It includes a motor stator, a motor rotor, an internal support structure, a motor housing and a motor screw, wherein the motor stator is fixedly connected to the internal support structure, the motor housing is wrapped around the outside of the internal support structure, the motor rotor is movably connected to the internal support structure, the motor rotor can rotate relative to the motor stator, and when the motor rotor rotates, the motor screw is driven to move linearly, and the robot roller screw motor also includes the detection device as described in any one of claims 1 to 9.

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