Hollow planetary gear motor with stable angle measurement

Abstract

The utility model discloses a hollow planetary gear motor with stable angle measurement, which relates to the field of motors and comprises a motor body, a planetary reducer, a first encoder, a second encoder, a third encoder and a control panel. The motor body comprises an output shaft; a first encoder is fixed on the motor body; the first encoder can monitor the rotation of the output shaft; the planetary reducer comprises a reducer shell and a sun gear; the sun gear is fixed in the speed reducer shell; the output shaft and the sun gear are coaxially fixed; a second encoder is fixed on the sun gear; a third encoder is fixed in the speed reducer shell; the third encoder can monitor the rotation of the sun gear; the first encoder, the second encoder and the third encoder are electrically connected with the control panel; the motor body is electrically connected with the control panel. The hollow planetary gear motor with stable angle measurement solves the problem that the rotation angle of the output shaft of the motor cannot be stably monitored in the prior art, and the rotation angle of the motor can be stably monitored.

Description

Technical Field

[0001] This utility model relates to the field of motors, and in particular to a hollow planetary geared motor with stabilizing angle measurement. Background Technology

[0002] The rotation angle of a motor is one of the important indicators for measuring its performance, especially in applications requiring precise control, such as the actuators of robotic arm joints. The spatial resolution of the motor's rotation angle directly determines the mechanical positioning accuracy of the robotic arm's end effector.

[0003] In the existing technology, an encoder is usually set on the motor output shaft. The motor output shaft is set to be hollow, and the encoder is set inside it to monitor the rotation of the motor output shaft. However, an encoder may fail, which will affect the monitoring of the rotation angle of the motor output shaft. However, multiple encoders cannot be set because the presence of encoders will occupy a lot of space in the motor output shaft (hollow part), affecting the arrangement of the wires passing through the shaft (motor hollow output shaft).

[0004] In the prior art, such as the hollow harmonic joint module disclosed in Chinese patent application number 202211019517.6, an off-axis encoder is set outside the motor output shaft. However, it does not solve the problem of affecting the monitoring of the motor rotation angle resolution when an encoder fails. Utility Model Content

[0005] To address the aforementioned technical problems, the hollow planetary geared motor with stable angle measurement provided by this utility model can stably monitor the rotation angle of the motor.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] This utility model provides an angle-stabilized hollow planetary geared motor, comprising a motor body, a planetary reducer, a first encoder, a second encoder, a third encoder, and a control board. The motor body includes an output shaft; the first encoder is fixed on the motor body; the first encoder can monitor the rotation of the output shaft; the planetary reducer includes a reducer housing and a sun gear; the sun gear is fixed inside the reducer housing; the output shaft is coaxially fixed with the sun gear; the second encoder is fixed on the sun gear; the third encoder is fixed on the reducer housing; the third encoder can monitor the rotation of the sun gear; the first encoder is electrically connected to the control board; the second encoder is electrically connected to the control board; the third encoder is electrically connected to the control board; and the motor body is electrically connected to the control board.

[0008] The hollow planetary geared motor with angle-stable operation provided by this utility model preferably has a first encoder as a magnetic encoder; the motor body includes a housing; the housing covers the output shaft; permanent magnets are evenly distributed along the circumference of the output shaft; and the magnetic encoder is arranged on the housing facing the output shaft.

[0009] The hollow planetary geared motor with angle-stabilized operation provided by this utility model preferably has a receiving cavity at the central shaft position of the sun gear; the second encoder is fixed inside the receiving cavity.

[0010] The hollow planetary geared motor with angle-stable operation provided by this utility model preferably includes a third encoder comprising a light emitting end and a light receiving end; both the light emitting end and the light receiving end are fixed inside the gearbox housing; the light emitting end can emit light towards the light receiving end; the light receiving end can receive the light emitted by the light emitting end; the sun gear is disposed between the light emitting end and the light receiving end; the sun gear is provided with an equidistant circular array of gratings; during the rotation of the sun gear, the light emitted by the light emitting end can pass through the gratings.

[0011] The above technical solution has the following advantages or beneficial effects:

[0012] This utility model discloses an angle-stable hollow planetary geared motor, relating to the field of motors, including a motor body, a planetary reducer, a first encoder, a second encoder, a third encoder, and a control board. The motor body includes an output shaft; the first encoder is fixed to the motor body; the first encoder can monitor the rotation of the output shaft; the planetary reducer includes a reducer housing and a sun gear; the sun gear is fixed inside the reducer housing; the output shaft is coaxially fixed with the sun gear; the second encoder is fixed to the sun gear; the third encoder is fixed to the reducer housing; the third encoder can monitor the rotation of the sun gear; the first encoder is electrically connected to the control board; the second encoder is electrically connected to the control board; the third encoder is electrically connected to the control board; the motor body is electrically connected to the control board. The angle-stable hollow planetary geared motor provided by this utility model solves the problem of existing technologies being unable to stably monitor the rotation angle of the motor output shaft, and can stably monitor the motor rotation angle. Attached Figure Description

[0013] The present invention, its features, shape, and advantages will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings. Like reference numerals denote like parts throughout the drawings. The drawings are not intentionally drawn to scale; the focus is on illustrating the gist of the invention.

[0014] Figure 1 This is a schematic diagram of the overall structure of the angle-stabilized hollow planetary geared motor provided in Embodiment 1 of this utility model.

[0015] Figure 2 This is an exploded structural diagram of the planetary reducer of the angle-stabilized hollow planetary geared motor provided in Embodiment 1 of this utility model.

[0016] Figure 3 This is a schematic diagram of the position structure of the third encoder on the planetary reducer of the angle-stabilized hollow planetary geared motor provided in Embodiment 1 of this utility model.

[0017] Figure 4 This is a schematic diagram of the circuit connection frame of the angle-stabilized hollow planetary geared motor provided in Embodiment 1 of this utility model. Detailed Implementation

[0018] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. It should also be noted that the terminology used in this utility model is for describing specific implementations only and is not intended to limit the exemplary implementations according to this application.

[0019] The technical solutions of the present utility model will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present utility model, and not all of them. Therefore, the detailed description of the embodiments of the present utility model provided in the accompanying drawings is not intended to limit the scope of the claimed utility model, but merely to illustrate selected embodiments of the present utility model. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without inventive effort are within the protection scope of the present utility model.

[0020] Example 1:

[0021] The hollow planetary geared motor with angle-stable operation provided in Embodiment 1 of this utility model, such as... Figures 1 to 4As shown, the system includes a motor body 1, a planetary reducer 2, a first encoder 3, a second encoder 4, a third encoder 5, and a control board 6. The motor body 1 includes an output shaft 11. The first encoder 3 is fixed on the motor body 1 and can monitor the rotation of the output shaft 11. The planetary reducer 2 includes a reducer housing 21 and a sun gear 22. The sun gear 22 is fixed inside the reducer housing 21. The output shaft 11 and the sun gear 22 are coaxially fixed. The second encoder 4 is fixed on the sun gear 22. The third encoder 5 is fixed on the reducer housing 21 and can monitor the rotation of the sun gear 22. The first encoder 3 is electrically connected to the control board 6. The second encoder 4 is electrically connected to the control board 6. The third encoder 5 is electrically connected to the control board 6. The motor body 1 is electrically connected to the control board 6.

[0022] The hollow planetary geared motor with angle-stable operation provided in Embodiment 1 of this utility model is used in three ways: the first encoder 3 directly monitors the rotation angle of the output shaft 11 of the motor body 1 (the encoder being fixed to the motor output shaft is existing technology); the second encoder 4 monitors the rotation angle of the sun gear 22 of the planetary gear reducer 2; and the third encoder 5, as an off-axis encoder, monitors the rotation angle of the sun gear 22. The first encoder 3, the second encoder 4, and the third encoder 5 transmit signals to the control board 6. The control board controls the motor body 1 according to the feedback signal from the first encoder 3, and at the same time compares the transmission signal from the first encoder 3 with the transmission signals from the second encoder 4 and the third encoder 5. If the rotation angle of the output shaft 11 reflected by the transmission signal from the first encoder 3 is consistent with the transmission signals from the second encoder 4 and the third encoder 5, the control board will determine the rotation angle of the output shaft 11. If the output shaft 11 rotation angle reflected by the signal is different, the transmission signal of the second encoder 4 shall prevail. If the feedback signal of the first encoder 3 is the same as any of the transmission signals of the second encoder 4 and the third encoder 5, the feedback signal of the first encoder 3 shall prevail. Compared with the prior art, if the feedback signal of the first encoder 3 (i.e., the encoder fixed in the hollow output shaft of the motor) fails, the rotation of the motor output shaft cannot be precisely controlled. In this embodiment, due to insufficient space at the motor output shaft, a planetary reducer 2 is set up and its sun gear rotation is monitored, thereby redundant monitoring of the motor output shaft rotation is performed. The presence of encoder failure is judged by the feedback of multiple signals (first encoder 3, second encoder 4 and third encoder 5), thereby stabilizing the monitoring of the motor rotation angle.

[0023] The hollow planetary geared motor with stable angle measurement provided in Embodiment 1 of this utility model solves the problem that the existing technology cannot stably monitor the rotation angle of the motor output shaft, and can stably monitor the rotation angle of the motor.

[0024] As a preferred embodiment, in this embodiment, the first encoder 3 is a magnetic encoder; the motor body 1 includes a housing 12; the housing 12 covers the output shaft 11; permanent magnets are evenly distributed along the circumference of the output shaft 11; the first encoder 3 is arranged on the housing 12 facing the output shaft 11. Since conventional encoders are directly fixed to the motor output shaft 11, occupying a large amount of space in the motor output shaft (hollow part), affecting the arrangement of wires passing through the shaft (the hollow output shaft of the motor), this embodiment uses a magnetic encoder. By installing a ring of evenly distributed permanent magnets on the output shaft 11 (ensuring that the permanent magnets are firmly installed and will not shift due to vibration), a continuous magnetic field environment is formed; the magnetic encoder is installed on the stable structure of the motor housing 12 (ensuring that there is sufficient gap between the sensor and the permanent magnets but that the magnetic field changes can be effectively sensed), thereby realizing the monitoring of the rotation angle of the output shaft 11.

[0025] As a preferred embodiment, in this embodiment, a receiving cavity 221 is provided at the central shaft position of the sun gear 22; a second encoder 4 is fixed inside the receiving cavity 221. The second encoder 4 is consistent with the encoder conventionally set in the prior art, and is directly fixed to the sun gear 22 and rotates synchronously with the sun gear 22, directly monitoring the rotation of the sun gear 22.

[0026] As a preferred embodiment, in this example, the third encoder 5 includes a light emitting end 51 and a light receiving end 52; both the light emitting end 51 and the light receiving end 52 are fixed inside the reducer housing 21; the light emitting end 51 can emit light towards the light receiving end 52; the light receiving end 52 can receive the light emitted by the light emitting end 51; the sun gear 22 is disposed between the light emitting end 51 and the light receiving end 52; the sun gear 22 is provided with an equidistant circular array of gratings 221; during the rotation of the sun gear 22, the light emitted by the light emitting end 51 can pass through the gratings 221. Since the third encoder 5 only needs to serve as a verification of whether the first encoder 3 and the second encoder 4 are faulty, the third encoder 5 does not need to have high precision. In this embodiment, the light emitting end 51 and the light receiving end 52 are used. The light receiving end 52 senses the number of times light passes through the grating 221 of the sun gear 22 (within a unit time) to calculate the rotation angle of the sun gear 22, thereby achieving the purpose of verification.

[0027] In summary, this utility model discloses an angle-stable hollow planetary geared motor, relating to the field of motors, including a motor body, a planetary reducer, a first encoder, a second encoder, a third encoder, and a control board. The motor body includes an output shaft; the first encoder is fixed to the motor body; the first encoder can monitor the rotation of the output shaft; the planetary reducer includes a reducer housing and a sun gear; the sun gear is fixed inside the reducer housing; the output shaft is coaxially fixed with the sun gear; the second encoder is fixed to the sun gear; the third encoder is fixed to the reducer housing; the third encoder can monitor the rotation of the sun gear; the first encoder is electrically connected to the control board; the second encoder is electrically connected to the control board; the third encoder is electrically connected to the control board; and the motor body is electrically connected to the control board. The angle-stable hollow planetary geared motor provided by this utility model solves the problem of existing technologies being unable to stably monitor the rotation angle of the motor output shaft, and can stably monitor the motor rotation angle.

[0028] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the contents of the present utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present utility model.

Claims

1. An angle-stabilized hollow planetary geared motor, characterized in that, It includes the motor body, planetary reducer, first encoder, second encoder, third encoder and control board; The motor body includes an output shaft; the first encoder is fixed on the motor body; the first encoder can monitor the rotation of the output shaft; The planetary reducer includes a reducer housing and a sun gear; The sun gear is fixed inside the reducer housing; The output shaft is fixed coaxially with the sun gear; The second encoder is fixed on the sun gear; The third encoder is fixed on the housing of the reducer; the third encoder can monitor the rotation of the sun gear. The first encoder is electrically connected to the control board; The second encoder is electrically connected to the control board; The third encoder is electrically connected to the control board; The motor body is electrically connected to the control board.

2. The angle-stabilized hollow planetary geared motor as described in claim 1, characterized in that, The first encoder is a magnetic encoder; the motor body includes a housing; the housing covers the output shaft. Permanent magnets are evenly distributed along the circumference of the output shaft; the first encoder is disposed on the outer casing facing the output shaft.

3. The angle-stabilized hollow planetary geared motor as described in claim 1, characterized in that, A receiving cavity is provided at the central shaft position of the sun gear; the second encoder is fixed inside the receiving cavity.

4. The angle-stabilized hollow planetary geared motor as described in claim 1, characterized in that, The third encoder includes a light transmitter and a light receiver; Both the light emitting end and the light receiving end are fixed inside the reducer housing; The light emitting end can emit light toward the light receiving end; The light receiving end can receive the light emitted by the light emitting end; The sun gear is disposed between the light emitting end and the light receiving end; The sun gear is provided with an equidistant circular array of gratings; During the rotation of the sun gear, the light emitted by the light emitting end can pass through the grating.

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