Outer rotor brushless double magnetic encoder steering engine

Abstract

The utility model discloses an outer rotor brushless double-magnetic encoder steering engine, which adopts double magnetic encoders to respectively detect the rotating speed and absolute position of a brushless electronic motor rotor and a gear set output shaft, enables the information collected by the magnetic encoders to be more accurate by adding magnets, reduces the measurement error of the motor rotor and the gear set output shaft, and improves the accuracy of the motor rotor and the gear set output shaft. The problems of gear clearance, shaking and small locking torque in a traditional steering engine are indirectly reduced, and more accurate control precision is provided for working activities of the robot.

Description

TECHNICAL FIELD

[0001] The utility model relates to rudder technology field especially relates to a kind of outer rotor brushless double magnetic encoder rudder. BACKGROUND

[0002] With the development of mechanical arm, humanoid robot, the project difficulty gradually increases in many industrial fields, and the configuration of the precision, speed requirement of robot joint is higher and higher, among them, rudder as common robot joint power unit, through the innovative structure introduction outer rotor brushless motor and double encoder to improve the performance of rudder, although rudder can improve the overall performance of robot, but there are strict requirements for control system and control method.

[0003] In prior art, traditional rudder is driven using inner rotor brushless motor, and a magnetic encoder is correspondingly provided to monitor the rotation angle and rotation speed of brushless motor, and the rudder is controlled with certain precision according to the data fed back by the magnetic encoder, so that the robot can accurately make corresponding action instruction through the rudder, but in the above-mentioned technology, in the scene of higher-precision rudder control, the output rotation of rudder cannot be effectively and accurately controlled, therefore, a structure capable of accurately controlling the rotation output of rudder is urgently needed to solve the above-mentioned technical problems. SUMMARY

[0004] In view of the above-mentioned technical problems that high-precision rudder output cannot be controlled in high-precision scene, the utility model provides an outer rotor brushless double magnetic encoder rudder.

[0005] To achieve the above-mentioned purpose, the utility model provides an outer rotor brushless double magnetic encoder rudder, which comprises a shell with a middle cavity structure, a brushless motor, a gear set and a main control board arranged in the shell, the brushless motor comprises a detection end and a working end, the working end of the brushless motor is fixedly connected with a rudder output shaft, the rudder output shaft is sleeved with the gear set, the gear set is further sleeved with a gear set output shaft, the main control board is provided with a first magnetic encoder and a second magnetic encoder electrically connected with the main control board, the first magnetic encoder is arranged opposite to the detection end of the brushless motor, and the second magnetic encoder is arranged opposite to one end of the gear set output shaft.

[0006] As an improved scheme of the utility model, the detection end center of the brushless motor and one end of the gear set output shaft close to the second magnetic encoder are both provided with a magnetic block, and the first magnetic encoder and the second magnetic encoder are respectively aligned with the magnetic block of the brushless motor and the magnetic block center of the gear set output shaft and are spaced apart.

[0007] As an improved scheme of the utility model, one end of the gear set output shaft is penetrated to the shell outside, and is sleeved with a transmission gear.

[0008] As an improved scheme of the utility model, the magnetic block is a radial magnetization magnet, and the magnetic pole of the magnetic block is distributed along the radial direction of the magnetic block.

[0009] As an improved scheme of the utility model, the brushless motor is an external rotor brushless motor.

[0010] As an improved scheme of the utility model, the distance between the magnetic block and the magnetic encoder sensor is between 0.4mm-0.6mm.

[0011] The utility model discloses the beneficial effect is: compared with prior art, the utility model provides a kind of external rotor brushless double magnetic encoder steering gear, adopt double magnetic encoder respectively to the motor rotor and the rotational speed and absolute position of gear set output shaft of brushless electronic are detected, by increasing magnet, so that the information collected by magnetic encoder is more accurate, reduce the measurement error of motor rotor and gear set output shaft, indirectly reduce the problems, such as gear virtual position, jitter, locking torque small, in traditional steering gear, to provide more accurate control precision for the working activity of robot. BRIEF DESCRIPTION OF DRAWINGS

[0012] Fig. 1 It is internal structure diagram of the utility model;

[0013] Fig. 2 It is sectional view of the utility model;

[0014] Fig. 3 It is perspective view of the utility model.

[0015] Main element symbol explanation is as follows:

[0016] 1, shell;2, brushless motor;3, gear set;4, main control board;5, steering output shaft;6, gear set output shaft;7, first magnetic encoder;8, second magnetic encoder;9, magnetic block;10, transmission gear; DETAILED DESCRIPTION

[0017] In order to more clearly express the utility model, the utility model is further described below in connection with the drawings.

[0018] In the following description, the example details are given so as to provide more in-depth understanding of the utility model. Obviously, the described embodiment is only a part of the embodiment of the utility model, not all embodiments. It should be understood that the described specific embodiment is only used to explain the utility model, and is not used to limit the utility model.

[0019] It should be understood that when the terms "comprising" and / or "including" are used in the specification, they are meant to indicate the presence of stated features, integers, steps, operations, elements, or components but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof.

[0020] In the prior art, most rudders monitor input and output data by setting two magnetic sensors to improve the control accuracy of the rudder, but in the above-mentioned technology, in the scene where higher precision rudder control is required, the output rotation of the rudder cannot be effectively and accurately controlled, and therefore an accurate rudder rotation output control structure is needed to solve the above-mentioned technical problems.

[0021] Please refer to Figs. 1-3 The utility model discloses a kind of outer rotor brushless double magnetic encoders rudders, including 1 with middle cavity structure and the brushless motor 2, gear set 3 and master control board 4 being set in 1, brushless motor 2 includes detection end and working end, the working end of brushless motor 2 is fixedly connected with rudder output shaft 5, rudder output shaft 5 is sleeved with gear set 3;Gear set 3 is also sleeved with gear set output shaft 6;First magnetic encoder 7 and second magnetic encoder 8 electrically connected with master control board 4 are provided on master control board 4, first magnetic encoder 7 is oppositely arranged with the detection end of brushless motor 2, second magnetic encoder 8 is oppositely arranged with one end of gear set output shaft 6;By setting two magnetic encoders, the absolute position of motor rotor and gear set output shaft 6 is measured respectively, gear set output shaft 6 of motor rotor is accurately detected, such as rotational speed information, master control board 4 combines the information collected by two magnetic encoders, reduces the error of brushless motor 2 output, reduces the problems of gear virtual position, jitter, locking torque small in traditional rudder, improve the control accuracy and service life of rudder, in the actual robot motion scene of application, robot can make more accurate action instruction.

[0022] The working principle of the utility model is:

[0023] The working end of the brushless motor 2 arranged inside the 1 is connected with the gear set 3 through the rudder output shaft 5, the gear set 3 is also provided with the gear set output shaft 6 penetrating outside the 1, when the brushless motor 2 is started, the gear set 3 is rotated through the rudder output shaft 5, indirectly drives the gear set output shaft 6 to rotate and output, meanwhile, the detection end of the brushless motor 2 and one end of the gear set output shaft 6 are respectively provided with the magnetic block 9 and the first magnetic encoder 7 and the second magnetic encoder 8 which are arranged at the center of the magnetic block 9 and spaced apart from the magnetic block 9, the control precision is improved through the coordination of the double magnetic encoders, the first magnetic encoder and the second magnetic encoder detect the absolute position or the rotating speed of the brushless motor 2 rotor and the gear set output shaft 6 respectively, and transmit the detection data to the main control board 4, the main control board 4 compares and calculates the received data, reduces the transmission error between the brushless motor 2 and the gear set output shaft 6, and improves the control precision of the rudder.

[0024] In the embodiment, the detection end center of the brushless motor 2 and one end of the gear set output shaft 6 close to the second magnetic encoder 8 are both provided with the magnetic block 9, the first magnetic encoder 7 and the second magnetic encoder 8 are respectively arranged at the center of the magnetic block 9 of the brushless motor 2 and the magnetic block 9 of the gear set output shaft 6 and are spaced apart, and further, a sensor chip is arranged; the brushless motor 2 and the gear set output shaft 6 are fixedly connected with the magnet, the double magnetic encoders can determine the absolute position of the brushless motor 2 rotor and the gear set output shaft 6 by detecting the rotation of the magnet, improve the detection precision, and the magnetic encoder is aligned with the center of the magnet, so that the detection error is avoided and the control precision is reduced; in the utility model, the brushless motor is an outer rotor brushless motor, the outer rotor brushless motor has greater torque density and efficiency at low speed compared with the traditional brushless motor, since the motor rotor is outside the brushless motor and the stator is inside, when the motor is started, the outer rotor rotates around the stator, the mass of the motor outer rotor is close to the size of the rotating radius, so that the moment of inertia is large, so that the outer rotor brushless motor can generate higher torque when running at low speed.

[0025] In the embodiment, the magnetic block 9 is a radial magnetization magnet, the magnetic block 9 is a neodymium iron boron strong magnetic material, the magnetic poles of the magnetic block 9 are distributed along the radial direction of the magnetic block 9, the distance between the magnetic block 9 and the magnetic encoding sensor is between 0.4mm-0.6mm, when the motor rotor and the gear set output shaft 6 rotate, the alternating sine magnetic field is generated by the magnetic block 9 when the motor rotor and the gear set output shaft 6 rotate, according to the rotating speed and the number of turns of the magnetic block 9, the rotating speed and the position of the motor rotor and the gear set output shaft 6 of the brushless motor 2 are determined by using the magnetic encoding sensor, the detection precision of the magnetic encoder is improved, so that the output of the rudder can be more accurate, and the possibility of rudder damage can be reduced, and the service life is improved.

[0026] One end of the gear set output shaft 6 is penetrated to the outside of the shell 1, and is sleeved with a transmission gear 10, and the transmission gear 10 is connected with an external component controlled by the output of the rudder, and due to the existence of the double magnetic encoder, the external component has very high control precision, and more accurate work is realized.

[0027] Please refer to Fig. 1 and Fig. 3 The shell 1 in the utility model is sequentially connected by an upper shell, a connecting shell and a lower shell and is fixed by external bolts, a baffle is arranged between the connecting shell and the upper shell, the gear set 3 is arranged between the upper shell and the baffle, and a containing space is arranged in the cavity of the connecting shell and the lower shell and is embedded with the brushless motor 2, the brushless motor 2 is installed in the containing space, a stable installation state is maintained, internal parts are prevented from being dislocated due to vibration, and the output of the rudder is prevented from being error.

[0028] The utility model has the advantages that:

[0029] 1) the rotation speed of the brushless motor is collected and the rotor position is confirmed through the first magnetic encoder and the magnetic block, the magnetic block angle change information of the gear set output shaft is collected through the second magnetic encoder, higher precision control of the rotation speed output and the absolute position of the gear set output shaft is achieved through analysis and calculation, the overall use performance and service life of the rudder are improved, and the use cost is reduced.

[0030] The above only discloses several specific embodiments of the utility model, but the utility model is not limited to this, and any change that can be thought of by any person skilled in the art should fall within the protection scope of the utility model.

Claims

1. An outer rotor brushless dual magnetic encoder servo motor characterized by, The shell with a middle cavity structure and a brushless motor, a gear set and a main control board arranged in the shell, the brushless motor comprising a detection end and a working end, the working end of the brushless motor being fixedly connected with a steering engine output shaft, the steering engine output shaft being sleeved with the gear set; the gear set is further sleeved with a gear set output shaft; the main control board is provided with a first magnetic encoder and a second magnetic encoder electrically connected with the main control board, the first magnetic encoder being oppositely arranged with the detection end of the brushless motor, and the second magnetic encoder being oppositely arranged with one end of the gear set output shaft.

2. The outer rotor brushless dual magnetic encoder steering engine according to claim 1, wherein, The detection end center of the brushless motor and one end of the gear set output shaft close to the second magnetic encoder are both provided with a magnetic block, and the first magnetic encoder and the second magnetic encoder are respectively aligned with the magnetic block of the brushless motor and the magnetic block of the gear set output shaft and are spaced apart.

3. The outer rotor brushless dual magnetic encoder steering motor of claim 1, wherein, One end of the gear set output shaft penetrates out of the shell and is sleeved with a transmission gear.

4. The outer rotor brushless dual magnetic encoder steering motor of claim 2, wherein, The magnetic block is a diametrically magnetized magnet, and the magnetic poles of the magnetic block are distributed along the radial direction of the magnetic block.

5. The outer rotor brushless dual magnetic encoder steering motor of claim 1, wherein, The brushless motor is an outer rotor brushless motor.

6. The outer rotor brushless dual magnetic encoder servo motor of claim 2, wherein, The distance between the magnetic block and the first magnetic encoder and the second magnetic encoder is between 0.4mm and 0.6mm.

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