Stepping motor angle detection device and robot thereof
By installing a potentiometer's rotating collar inside the stepper motor's housing assembly, the problem of angle detection for the tail output shaft with no exposed portion was solved, enabling accurate detection of the stepper motor's angle.
Patent Information
- Application Number
- CN202520266400.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-19
- Publication Date
- 2025-12-16
- Estimated Expiration
- 2035-02-19
AI Technical Summary
Existing stepper motor angle detection devices cannot effectively detect angles in areas where there are no exposed parts on the tail output shaft.
Design a detection device comprising a housing assembly, a stepper motor, and a potentiometer. The rotating collar of the potentiometer is fitted onto the output shaft, and the angle of the output shaft of the stepper motor is detected by synchronous rotation.
It enables effective detection of the stepper motor angle at the unexposed part of the tail output shaft, thus improving the accuracy of stepper motor control.
Smart Images
Figure CN223678417U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to robot manufacturing technical field especially, a kind of step motor angle detection device and robot thereof. BACKGROUND
[0002] Step motor angle detection device, solve the problem that output shaft real-time angle cannot be obtained in the control process of step motor. The existing solution is to increase magnetic sensing device at the exposed part of output shaft at the tail of step motor to detect angle. There is no exposed output shaft at the tail of step motor on the market, so the angle detection problem cannot be solved by the above method. SUMMARY
[0003] The utility model aims at providing a kind of step motor angle detection device and robot thereof, to solve the technical problem that the angle of step motor with no exposed part at tail cannot be detected by existing step motor angle detection device.
[0004] To solve the above problem, according to one aspect of the present application, the utility model embodiment provides a kind of step motor angle detection device, the step motor angle detection device includes shell assembly, step motor and potentiometer, the shell assembly has installation cavity and makes the installation cavity with the through-hole of external communication, the step motor and the potentiometer are all set in the installation cavity, and the output shaft of the step motor is stretched out the shell assembly via the through-hole, the potentiometer has rotating collar, the rotating collar is sleeved on the output shaft, to rotate synchronously with the output shaft.
[0005] In some embodiments, the shell assembly includes buckled lower shell and upper shell, the installation cavity includes the first cavity adapted to the step motor and configured on the side of the lower shell towards the upper shell and the second cavity adapted to the potentiometer and configured on the side of the upper shell towards the lower shell, and the through-hole is configured on the side wall of the second cavity away from the first cavity.
[0006] In some embodiments, the step motor has first lead-out wire, the lower shell is configured with first gap for the first lead-out wire to stretch out;And / or, the potentiometer has second lead-out wire, and the upper shell is configured with second gap for the second lead-out wire to stretch out.
[0007] In some embodiments, the output shaft is located on the side of the step motor away from the lower shell, and the potentiometer is arranged on the side of the step motor away from the lower shell.
[0008] In some embodiments, a gasket is sleeved on the output shaft, and the gasket is clamped between the potentiometer and the step motor.
[0009] In some embodiments, the gasket is configured with a rotation-stopping notch at the outer periphery, and the stepper motor is configured with a first rotation-stopping protrusion that is adapted to the rotation-stopping notch.
[0010] In some embodiments, the stepper motor angle detection device further comprises a coupling sleeve, the coupling sleeve is sleeved on the output shaft and penetrates the rotating collar, so that the rotating collar and the output shaft rotate synchronously.
[0011] In some embodiments, the output shaft has a first chordal rotation-stopping surface, and the inner hole of the coupling sleeve is configured with a second rotation-stopping protrusion that is matched with the first chordal rotation-stopping surface.
[0012] In some embodiments, the outer wall of the coupling sleeve is configured with a second chordal rotation-stopping surface, and the inner hole of the rotating collar is configured with a third rotation-stopping protrusion that is matched with the second chordal rotation-stopping surface.
[0013] According to another aspect of the present application, the utility model embodiment further provides a robot, the robot includes the stepper motor angle detection device as described above.
[0014] Compared with the prior art, the stepper motor angle detection device has at least the following beneficial effects:
[0015] The utility model discloses a kind of stepper motor angle detection devices, which includes shell assembly, stepper motor and potentiometer, shell assembly has installation cavity and makes installation cavity with the through-hole being communicated, stepper motor and potentiometer are all arranged in installation cavity, and the output shaft of stepper motor is stretched out shell assembly via through-hole, since the existence of shell assembly, the magnetic sensing device of existing stepper motor angle detection device is difficult to install at the output shaft of stepper motor, the utility model is by being arranged in installation cavity potentiometer, the rotating collar of potentiometer is sleeved on output shaft, the rotation angle of the output shaft of stepper motor is detected by rotating collar and output shaft synchronous rotation, solve the angle detection problem of the stepper motor of tail output shaft without exposed part that existing stepper motor angle detection device cannot solve.
[0016] Another aspect, the robot provided by the utility model is manufactured based on the above-mentioned stepper motor angle detection device, and its beneficial effects refer to the beneficial effects of the above-mentioned stepper motor angle detection device, which will not be described here.
[0017] The above description is only a summary of the technical scheme of the utility model, in order to more clearly understand the technical means of the utility model, and can be implemented according to the content of the specification, the following preferred embodiments of the utility model are described in detail with the help of drawings. BRIEF DESCRIPTION OF DRAWINGS
[0018] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.
[0019] Fig. 1 The exploded structural schematic view of the step motor angle detection device provided by the embodiment of the present application is shown in the figure.
[0020] Fig. 2 The exploded structural schematic view of the step motor angle detection device provided by the embodiment of the present application is shown in the figure.
[0021] Fig. 3 The structural schematic view of the step motor angle detection device provided by the embodiment of the present application is shown in the figure.
[0022] Explanation of the reference signs:
[0023] 1, housing assembly; 11, lower shell; 111, first cavity; 112, first notch; 12, upper shell; 121, second cavity; 122, via hole; 123, second notch;
[0024] 2, step motor; 21, output shaft; 211, first chord cut-off rotation surface; 22, first lead-out wire; 23, first rotation-stopping protrusion;
[0025] 3, potentiometer; 31, rotating collar; 311, third rotation-stopping protrusion; 32, second lead-out wire;
[0026] 4, gasket; 41, rotation-stopping notch;
[0027] 5, coupling; 51, second rotation-stopping protrusion; 52, second chord cut-off rotation surface. DETAILED DESCRIPTION
[0028] In order to further illustrate the technical means and effects adopted by the present application to achieve the predetermined application purpose, the specific implementation, structure, features and effects according to the present application will be described in detail below in combination with the drawings and preferred embodiments. In the following description, different "an embodiment" or "embodiments" do not necessarily refer to the same embodiment. In addition, the specific features, structures or characteristics in one or more embodiments can be combined in any suitable form.
[0029] In the description of the utility model, it is necessary to make clear, the utility model discloses the specification and the claim and the term of above-mentioned drawing in the " first " " second " etc. for distinguishing similar object, and do not have to be used to describe specific order or antecedence order;The terms " vertical " " horizontal " " vertical " " front " " back " " left " " right " " up " " down " " horizontal " etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawing, just for the convenience of describing the utility model, and it does not mean that the device or element referred to must have a particular orientation or position, so it can not be understood as the limitation of the utility model.
[0030] In the description of the utility model, it is necessary to make clear, the utility model discloses the specification and the claim and the term of above-mentioned drawing in the " first " " second " etc. for distinguishing similar object, and do not have to be used to describe specific order or antecedence order;The terms " vertical " " horizontal " " vertical " " front " " back " " left " " right " " up " " down " " horizontal " etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawing, just for the convenience of describing the utility model, and it does not mean that the device or element referred to must have a particular orientation or position, so it can not be understood as the limitation of the utility model.
[0031] Embodiment 1
[0032] As Figs. 1-3 The utility model discloses a stepping motor angle detection device, the stepping motor angle detection device includes shell subassembly 1, stepping motor 2 and potentiometer 3, shell subassembly 1 has the cavity of installation and make the cavity of installation with the through-hole 122 of outside communication, stepping motor 2 and potentiometer 3 all are arranged in the cavity of installation, and the output shaft 21 of stepping motor 2 is stretched out shell subassembly 1 via the through-hole 122, potentiometer 3 has rotary collar 31, and the rotary collar 31 is sleeved on the output shaft 21 to rotate with the output shaft 21.
[0033] In the embodiment, the stepping motor angle detection device includes shell subassembly 1, stepping motor 2 and potentiometer 3, shell subassembly 1 has the cavity of installation and make the cavity of installation with the through-hole 122 of outside communication, stepping motor 2 and potentiometer 3 all are arranged in the cavity of installation, and the output shaft 21 of stepping motor 2 is stretched out shell subassembly 1 via the through-hole 122, due to the existence of shell subassembly 1, the magnetic sensing device of the existing stepping motor angle detection device is difficult to install at the output shaft 21 of stepping motor 2, the rotary collar 31 of potentiometer 3 is sleeved on the output shaft 21 by the potentiometer 3 being arranged in the cavity of installation in this embodiment, and the rotary collar 31 is rotated with the output shaft 21 to detect the rotation angle of the output shaft 21 of stepping motor 2, solve the angle detection problem of the stepping motor of tail output shaft without exposed part that the existing stepping motor angle detection device can not solve.
[0034] In some embodiments, the housing assembly 1 comprises a lower shell 11 and an upper shell 12, the installation cavity comprises a first cavity 111 configured on a side of the lower shell 11 facing the upper shell 12 and adapted to the stepping motor 2, and a second cavity 121 configured on a side of the upper shell 12 facing the lower shell 11 and adapted to the potentiometer 3, the through hole 122 is configured on a side wall of the second cavity 121 away from the first cavity 111.
[0035] In some embodiments, the housing assembly 1 comprises a lower shell 11 and an upper shell 12, the installation cavity comprises a first cavity 111 configured on a side of the lower shell 11 facing the upper shell 12 and adapted to the stepping motor 2, and a second cavity 121 configured on a side of the upper shell 12 facing the lower shell 11 and adapted to the potentiometer 3, the through hole 122 is configured on a side wall of the second cavity 121 away from the first cavity 111.
[0036] In some embodiments, the stepping motor 2 has a first lead-out wire 22, the lower shell 11 is configured with a first notch 112 allowing the first lead-out wire 22 to extend out, and the stepping motor 2 is controlled through the first lead-out wire 22.
[0037] In some embodiments, the potentiometer 3 has a second lead-out wire 32, the upper shell 12 is configured with a second notch 123 allowing the second lead-out wire 32 to extend out, and the data obtained by the potentiometer 3 is output through the second lead-out wire 32.
[0038] In some embodiments, the output shaft 21 is located on a side of the stepping motor 2 away from the lower shell 11, and the potentiometer 3 is arranged on a side of the stepping motor 2 away from the lower shell 11.
[0039] In some embodiments, a gasket 4 is sleeved on the output shaft 21, and the gasket 4 is clamped between the potentiometer 3 and the stepping motor 2, the gasket 4 is used to determine the height of the rotating sleeve 31 of the potentiometer 3 relative to the output shaft 21 of the stepping motor 2, so that the rotating sleeve 31 of the potentiometer 3 acts on the output shaft 21 of the stepping motor 2, and the rotating angle of the output shaft 21 of the stepping motor 2 is detected by the synchronous rotation of the rotating sleeve 31 and the output shaft 21.
[0040] In some embodiments, the outer periphery of the gasket 4 is configured with a rotation-stopping notch 41, and the stepping motor 2 is configured with a first rotation-stopping protrusion 23 adapted to the rotation-stopping notch 41, to prevent the gasket 4 from rotating with the output shaft 21.
[0041] In some embodiments, the step motor angle detection device further comprises a coupling 5, which is sleeved on the output shaft 21 and passes through the rotating ring 31, so that the rotating ring 31 rotates synchronously with the output shaft 21, and the rotating angle of the output shaft 21 of the step motor 2 is detected by the synchronous rotation of the rotating ring 31 and the output shaft 21.
[0042] In some embodiments, the output shaft 21 has a first chordal stop surface 211, and the inner hole of the coupling 5 is configured with a second stop protrusion 51 matched with the first chordal stop surface 211, so that the coupling 5 rotates synchronously with the output shaft 21.
[0043] In some embodiments, the outer wall of the coupling 5 is configured with a second chordal stop surface 52, and the inner hole of the rotating ring 31 is configured with a third stop protrusion 311 matched with the second chordal stop surface 52, so that the rotating ring 31 rotates synchronously with the coupling 5.
[0044] Embodiment 2
[0045] The utility model embodiment further provides a robot, the robot includes the step motor angle detection device of embodiment 1.
[0046] The step motor angle detection device is used for robot, and is specifically used for detecting the rotating angle of the output shaft 21 of the step motor 2 at the joint of the robot, to ensure the accuracy of the action of the robot.
[0047] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described device, apparatus and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.
[0048] The above is only a specific embodiment of the utility model, but the protection scope of the utility model is not limited to this, and anyone skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the utility model, and these modifications or replacements should be covered in the protection scope of the utility model. Therefore, the protection scope of the utility model should be subject to the protection scope of claims.
Claims
1. A stepping motor angle detection device characterized by comprising: The step motor angle detection device comprises a housing assembly (1), a step motor (2) and a potentiometer (3), the housing assembly (1) has a mounting cavity and a through hole (122) for communication between the mounting cavity and the outside, the step motor (2) and the potentiometer (3) are arranged in the mounting cavity, and the output shaft (21) of the step motor (2) extends out of the housing assembly (1) through the through hole (122), the potentiometer (3) has a rotating collar (31) sleeved on the output shaft (21) to rotate synchronously with the output shaft (21).
2. The stepping motor angle detection device according to claim 1, characterized by The housing assembly (1) comprises a buckled lower shell (11) and an upper shell (12), the mounting cavity comprises a first cavity (111) configured on the side of the lower shell (11) facing the upper shell (12) and matched with the step motor (2), and a second cavity (121) configured on the side of the upper shell (12) facing the lower shell (11) and matched with the potentiometer (3), and the through hole (122) is configured on the side wall of the second cavity (121) away from the first cavity (111).
3. The stepping motor angle detection device according to claim 2, characterized by The step motor (2) has a first lead-out wire (22), and the lower shell (11) is configured with a first notch (112) for the first lead-out wire (22) to extend out; and / or the potentiometer (3) has a second lead-out wire (32), and the upper shell (12) is configured with a second notch (123) for the second lead-out wire (32) to extend out.
4. The stepping motor angle detection device according to claim 2, characterized by The output shaft (21) is located on the side of the step motor (2) away from the lower shell (11), and the potentiometer (3) is arranged on the side of the step motor (2) away from the lower shell (11).
5. The stepping motor angle detection device according to claim 4, characterized by A gasket (4) is sleeved on the output shaft (21), and the gasket (4) is clamped between the potentiometer (3) and the step motor (2).
6. The stepping motor angle detection device according to claim 5, wherein The outer periphery of the gasket (4) is configured with a rotation stopping notch (41), and the step motor (2) is configured with a first rotation stopping protrusion (23) matched with the rotation stopping notch (41).
7. The stepping motor angle detection device according to claim 4, wherein The step motor angle detection device further comprises a coupling (5) sleeved on the output shaft (21) and penetrating into the rotating collar (31) to make the rotating collar (31) rotate synchronously with the output shaft (21).
8. The stepping motor angle detection device according to claim 7, wherein The output shaft (21) has a first chord cutting rotation stopping surface (211), and the inner hole of the coupling (5) is configured with a second rotation stopping protrusion (51) matched with the first chord cutting rotation stopping surface (211).
9. The stepping motor angle detection device according to claim 7, wherein The outer wall of the coupling (5) is configured with a second chord cutting rotation stopping surface (52), and the inner hole of the rotating collar (31) is configured with a third rotation stopping protrusion (311) matched with the second chord cutting rotation stopping surface (52).
10. A robot, characterized in that The robot comprises the step motor angle detection device according to any one of claims 1-9.