Magnetic encoder arrangement structure capable of simultaneously detecting input rotating speed and output rotating speed

Abstract

The utility model relates to a magnetic encoder arrangement structure capable of simultaneously detecting input and output rotating speeds, which comprises a motor, a harmonic reducer, a circuit board, a magnetic ring A and a magnetic ring B. An output wheel of the harmonic reducer is fixedly provided with a middle shaft, the middle shaft penetrates through a rotating shaft of the motor, the magnetic ring A is fixed at one end of the middle shaft, and the magnetic ring B is fixed at one end of the rotating shaft. The circuit board is fixed on an end cover of the motor and located between the magnetic ring A and the magnetic ring B. The upper end face of the circuit board is provided with a magnetic sensor and a signal processor which are matched with the magnetic ring A. And a magnetic sensor and a signal processor which are matched with the magnetic ring B are arranged on the lower end surface of the circuit board. According to the utility model, the space occupied by the detection device is greatly reduced, and the overall equipment volume is smaller.

Description

Technical Field

[0001] The utility model belongs to the technical field of joint motors, and in particular relates to a magnetic encoder arrangement structure for simultaneously detecting input and output rotation speeds. Background Art

[0002] The rapid development of robotics has revolutionized many fields, from manufacturing to healthcare to daily life. In the motion control of robots, joint motor modules play a key role, providing power and precise motion control for the robot's joints.

[0003] The joint motor control of the robot is an advanced technology that relies on the motor driver and control algorithm to complete precise current and speed control to adjust the movement of the motor to ensure the required position, speed and torque. In order to ensure high-precision position control of the joint motor, it is generally necessary to detect the motor speed and the speed of the reducer output end respectively, and provide the detected information to the electrical driver to complete the precise control of the motor. At present, information collection is achieved by setting detection devices at the positions of the motor shaft and the reducer output wheel respectively. The above technical solution has a complex structure and is not conducive to the miniaturization design of the joint motor. Utility Model Content

[0004] In order to solve the above technical problems, the purpose of the utility model is to provide a magnetic encoder arrangement structure which has a compact structure and can detect input and output rotation speeds at the same time.

[0005] In order to achieve the above-mentioned utility model purpose, the utility model adopts the following technical solutions:

[0006] A magnetic encoder arrangement structure for simultaneously detecting input and output rotation speeds comprises a motor, a harmonic reducer, a circuit board, a magnetic ring A and a magnetic ring B, wherein an output wheel of the harmonic reducer is fixed with an intermediate shaft, the intermediate shaft passes through a rotating shaft of the motor, the magnetic ring A is fixed at one end of the intermediate shaft, the magnetic ring B is fixed at one end of the rotating shaft, the circuit board is fixed on an end cover of the motor and is located between the magnetic ring A and the magnetic ring B, a magnetic sensor and a signal processor matching with the magnetic ring A are arranged on the upper end surface of the circuit board, and a magnetic sensor and a signal processor matching with the magnetic ring B are arranged on the lower end surface of the circuit board.

[0007] As a preferred solution: a magnetic ring seat A is fixed to one end of the intermediate shaft by bolts, a convex ring is provided on the lower end surface of the magnetic ring seat A, the magnetic ring A is sleeved on the convex ring and is interference fit with the convex ring or fixed with glue.

[0008] As a preferred solution: a magnetic ring seat B is fixed to one end of the rotating shaft of the motor, and a convex ring is provided on the upper end surface of the magnetic ring seat B. The magnetic ring B is sleeved on the convex ring and is interference fit or fixed with the convex ring by glue.

[0009] As a preferred solution: the outer diameters of the magnetic ring seat A, magnetic ring A, magnetic ring seat B, and magnetic ring B are all the same.

[0010] As a preferred solution: the gaps between the magnetic ring A, the magnetic ring B and the magnetic sensor are all 1.1 mm-1.5 mm.

[0011] As a preferred solution: a bearing bush is further provided between the end of the rotating shaft close to the magnetic ring B and the intermediate shaft.

[0012] As a preferred embodiment: the motor includes a casing and a stator core arranged in the casing, a rotor core is fixed on the rotating shaft, and the rotor core is located in the stator core, the end cover is fixed at one end of the casing, and a plurality of support columns for supporting the circuit board are arranged on the end cover at intervals along the circumference.

[0013] As a preferred solution: a plurality of notches are provided at intervals on the outer edge of the circuit board, and the support column includes two upper and lower cylinders with different outer diameters, the lower cylinder abuts against the lower end surface of the circuit board, the upper cylinder is inserted into the notch of the circuit board, and the upper cylinder is also provided with bolts for tightening the circuit board.

[0014] The utility model utilizes an intermediate shaft fixed to the output end of the reducer, and the intermediate shaft penetrates the rotating shaft, so that a magnetic ring can be arranged at one end of the rotating shaft and the intermediate shaft close to the circuit board, and utilizes the length difference between the rotating shaft and the intermediate shaft to leave a space between the two magnetic rings, and a circuit board is arranged in this space, and the magnetic sensors and signal processors corresponding to the two magnetic rings are concentrated on one circuit board, which greatly reduces the space occupied by the detection device and makes the overall device smaller. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings in the specification, which constitute a part of the present application, are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute a limitation on the present application.

[0016] Figure 1 It is a schematic diagram of the cross-sectional structure of the utility model;

[0017] Figure 2 and Figure 3 It is a schematic diagram of the assembly structure of the utility model at two different angles.

[0018] The figures are marked as follows: 3, circuit board; 4, motor end cover; 46, bearing; 5, motor housing; 6, rotating shaft; 61, magnetic ring seat B, 62, magnetic ring B; 60, bearing; 7, intermediate shaft; 71, magnetic ring seat A; 72, magnetic ring A; 8, harmonic reducer. DETAILED DESCRIPTION

[0019] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0020] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0021] In addition, in the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0022] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "plurality" means two or more, unless otherwise clearly defined.

[0023] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0025] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0026] like Figures 1 to 3 The magnetic encoder arrangement structure for simultaneously detecting input and output speeds shown in the figure comprises a motor, a harmonic reducer, a circuit board 3, a magnetic ring A72 and a magnetic ring B62. The motor comprises a housing 5 and a stator core arranged in the housing 5. A rotor core is fixed on the rotating shaft 6, and the rotor core is located in the stator core. The end cover 4 is fixed to one end of the housing 5, and a plurality of support columns for supporting the circuit board 3 are arranged on the end cover 4 at intervals along the circumference. The output wheel of the harmonic reducer is fixed with an intermediate shaft 7, and the intermediate shaft 7 passes through the motor. The motor has a rotating shaft 6, and a bearing 60 is provided between one end of the rotating shaft 6 close to the magnetic ring B62 and the intermediate shaft 7. The magnetic ring A72 is fixed to one end of the intermediate shaft 7, and the magnetic ring B62 is fixed to one end of the rotating shaft 6. The circuit board 3 is fixed to the end cover 4 of the motor and is located between the magnetic ring A72 and the magnetic ring B62. The upper end surface of the circuit board 3 is provided with a magnetic sensor and a signal processor that cooperate with the magnetic ring A72; the lower end surface of the circuit board 3 is provided with a magnetic sensor and a signal processor that cooperate with the magnetic ring B62.

[0027] The specific fixing method of the circuit board and the motor end cover is as follows: the outer edge of the circuit board 3 is also provided with a plurality of notches at intervals, the support column includes two upper and lower cylinders with different outer diameters, the lower cylinder abuts against the lower end surface of the circuit board 3, the upper cylinder is inserted into the notch of the circuit board 3, and the upper cylinder is also provided with a bolt for pressing the circuit board 3. The above structure can fix the circuit board more firmly and avoid affecting the speed detection accuracy due to the shaking of the circuit board.

[0028] One end of the intermediate shaft 7 is fixed with a magnetic ring seat A71 by bolts, and the lower end surface of the magnetic ring seat A71 is provided with a circle of convex rings, and the magnetic ring A72 is sleeved on the convex ring and is interference fit with the convex ring or fixed with glue. One end of the rotating shaft 6 of the motor is fixed with a magnetic ring seat B61, and the upper end surface of the magnetic ring seat B61 is provided with a circle of convex rings, and the magnetic ring B62 is sleeved on the convex ring and is interference fit with the convex ring or fixed with glue. Installing the magnetic ring through the magnetic ring seat is convenient to operate, the position is more stable, it is not easy to loosen, and the detection effect is better.

[0029] The outer diameters of the magnetic ring seat A71, magnetic ring A72, magnetic ring seat B61, and magnetic ring B62 are all the same. The gaps between the magnetic ring A72, magnetic ring B62 and the magnetic sensor are all 1.1 mm to 1.5 mm.

[0030] The utility model utilizes an intermediate shaft fixed to the output end of the reducer, and the intermediate shaft penetrates the rotating shaft, so that a magnetic ring can be arranged at one end of the rotating shaft and the intermediate shaft close to the circuit board, and utilizes the length difference between the rotating shaft and the intermediate shaft to leave a space between the two magnetic rings, and a circuit board is arranged in this space, and the magnetic sensors and signal processors corresponding to the two magnetic rings are concentrated on one circuit board, which greatly reduces the space occupied by the detection device and makes the overall device smaller.

[0031] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0032] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A magnetic encoder arrangement structure for simultaneously detecting input and output speeds, characterized in that: The invention comprises a motor, a harmonic reducer, a circuit board (3), a magnetic ring A (72) and a magnetic ring B (62), wherein the output wheel of the harmonic reducer is fixed with an intermediate shaft (7), the intermediate shaft (7) passes through the rotating shaft (6) of the motor, the magnetic ring A (72) is fixed to one end of the intermediate shaft (7), the magnetic ring B (62) is fixed to one end of the rotating shaft (6), the circuit board (3) is fixed to the end cover (4) of the motor and is located between the magnetic ring A (72) and the magnetic ring B (62), the upper end surface of the circuit board (3) is provided with a magnetic sensor and a signal processor that match the magnetic ring A (72); and the lower end surface of the circuit board (3) is provided with a magnetic sensor and a signal processor that match the magnetic ring B (62).

2. A magnetic encoder arrangement structure for simultaneously detecting input and output rotation speeds according to claim 1, characterized in that: A magnetic ring seat A (71) is fixed to one end of the intermediate shaft (7) by means of bolts. A convex ring is provided on the lower end surface of the magnetic ring seat A (71). The magnetic ring A (72) is sleeved on the convex ring and is interference fit or glue fixed to the convex ring.

3. A magnetic encoder arrangement structure for simultaneously detecting input and output rotation speeds according to claim 1 or 2, characterized in that: A magnetic ring seat B (61) is fixed to one end of the rotating shaft (6) of the motor, and a convex ring is provided on the upper end surface of the magnetic ring seat B (61). The magnetic ring B (62) is sleeved on the convex ring and is fixed to the convex ring by interference fit or adhesive.

4. The magnetic encoder arrangement structure for simultaneously detecting input and output rotation speeds according to claim 3, characterized in that: The outer diameters of the magnetic ring seat A (71), the magnetic ring A (72), the magnetic ring seat B (61), and the magnetic ring B (62) are all the same.

5. The magnetic encoder arrangement structure for simultaneously detecting input and output rotation speeds according to claim 1, characterized in that: The gaps between the magnetic ring A (72), the magnetic ring B (62) and the magnetic sensor are both 1.1 mm to 1.5 mm.

6. The magnetic encoder arrangement structure for simultaneously detecting input and output rotation speeds according to claim 1, characterized in that: A bearing bush (60) is also provided between the end of the rotating shaft (6) close to the magnetic ring B (62) and the intermediate shaft (7).

7. The magnetic encoder arrangement structure for simultaneously detecting input and output rotation speeds according to claim 1, characterized in that: The motor comprises a casing (5) and a stator core arranged in the casing (5); a rotor core is fixed on the rotating shaft (6), and the rotor core is located in the stator core; the end cover (4) is fixed to one end of the casing (5), and a plurality of support columns for supporting the circuit board (3) are arranged at intervals along the circumference of the end cover (4).

8. A magnetic encoder arrangement structure for simultaneously detecting input and output rotation speeds according to claim 7, characterized in that: The outer edge of the circuit board (3) is also provided with a plurality of notches at intervals, and the support column comprises two upper and lower cylinders with different outer diameters, the lower cylinder abuts against the lower end surface of the circuit board (3), the upper cylinder is inserted into the notches of the circuit board (3), and a bolt for pressing the circuit board (3) is also provided in the upper cylinder.

Images