Angle feedback rotary actuator

Abstract

The utility model belongs to the technical field of rotary actuators, and particularly relates to an angle feedback rotary actuator. The rotary actuator comprises a power source, a reduction gear set driven by the power source, a rotary output piece and a shell. The rotary output part is rotatably assembled on the shell; the reduction gear set is used for increasing the torque of the rotary driving force of the power source and then transmitting the torque to the rotary output part; a fluted disc is arranged on the rotary output piece, and a magnetic block is fixed on the fluted disc; the rotary output piece has a preset rotation angle range, and the motion path of the magnetic block is limited; magnetic detection elements are arranged in the shell and are opposite to the two ends of the motion path of the magnetic block respectively; the magnetic detection element is triggered to respond when the magnetic block rotates to a position opposite to the magnetic detection element; an optical code disc is installed on a rotating shaft of the power source, an optical detection element is installed on the shell, and the optical code disc rotates to trigger the optical detection element to respond. The actuator provided by the utility model not only can provide high-precision position feedback, but also has excellent stability and is easy to maintain.

Description

Technical Field

[0001] This utility model belongs to the field of rotary actuator technology, specifically relating to an angle feedback rotary actuator. Background Technology

[0002] With the development of smart home appliances, robots, and other automated equipment, the demand for precise control of rotating components is increasing. In these applications, accurate and reliable control of rotation angles is crucial for achieving the intended functionality of the product. For example, in applications such as door control systems in smart home appliances and robot joints, rotary actuators must possess high-precision position control capabilities to ensure operational accuracy and safety.

[0003] Traditional rotary actuators typically rely on mechanical limit switches or contact sensors to determine the position of rotating parts. However, this type of structure has several significant drawbacks. First, mechanical contact can lead to wear and reduced reliability, especially under prolonged use or frequent operation. Second, contact sensors are susceptible to environmental factors such as dust and moisture, which can cause signal distortion or even complete failure. Furthermore, installing and maintaining these sensors is often complex, requiring regular inspection and adjustment, increasing costs and reducing efficiency. Utility Model Content

[0004] To address the shortcomings of existing technologies, this invention provides an angle feedback rotary actuator. The purpose of this invention is to provide a rotary actuator that offers high-precision position feedback, excellent stability, and ease of maintenance.

[0005] The rotary actuator of this utility model includes a power source located upstream of the power source, a reduction gear set driven by the power source, a rotary output component located downstream of the power source for outputting rotary driving force to the target object, and a housing. The rotary output component is rotatably mounted on the housing. The power source and the reduction gear set are located inside the housing. The reduction gear set amplifies the rotary driving force of the power source and transmits it to the rotary output component. The rotary output component has a geared disc, on which a magnetic block is fixed. The rotary output component has a preset rotation angle range, which defines the movement path of the magnetic block. Magnetic detection elements are respectively provided at both ends of the movement path of the magnetic block inside the housing. When the magnetic block rotates to the position directly opposite the magnetic detection element, the magnetic detection element is triggered to respond. An optical encoder is mounted on the shaft of the power source, and an optical detection element is mounted on the housing. Rotation of the optical encoder triggers the optical detection element to respond. The power source is a motor.

[0006] As a further optimization of the angle feedback rotary actuator: there is an embedding hole on the side of the gear disk facing the magnetic detection element, and a magnetic block is installed in the embedding hole.

[0007] As a further optimization of the angle feedback rotary actuator: the opening of the embedding hole has an elastic barb that abuts against at least one side surface of the magnetic block housed in the embedding hole.

[0008] As a further optimization of the angle feedback rotary actuator: the rotary output component includes a shaft body and a geared disc integrally formed with the shaft body; the geared disc is housed in a housing, and at least one end of the shaft body protrudes from the housing.

[0009] As a further optimization of the angle feedback rotary actuator: the exposed end of the shaft body has a spline hole, and the end face of the spline hole is flush with the outer wall of the adjacent housing.

[0010] As a further optimization of the angle feedback rotary actuator: the reduction ratio between the power source and the rotary output component is 10~200.

[0011] As a further optimization of the angle feedback rotary actuator: the magnetic detection element is integrated on the prefabricated circuit board, which has preset component mounting points that form a preset angle, and the preset angle matches the preset rotation angle of the rotary output component; the prefabricated circuit board is mounted on the inner wall of the housing.

[0012] As a further optimization of the angle feedback rotary actuator: a limiting sleeve is formed on the inner wall of the housing and around the rotary output component; at least one side of the prefabricated circuit board has an arc-shaped abutting edge that abuts against the outer wall of the limiting sleeve.

[0013] As a further optimization of the angle feedback rotary actuator: the preset rotation angle of the rotary output component is 10°~180°.

[0014] The angle detection method for the aforementioned angle feedback rotary actuator includes the following steps:

[0015] Before starting, confirm that the rotating output component is at the minimum or maximum rotation angle, that is, the magnetic block is facing a magnetic detection element and the magnetic detection element is responding;

[0016] Start the power source, and the rotary output component will begin to rotate through the reduction gear set;

[0017] During the rotation of the rotating output component, the pulse signal received by the optical encoder from the optical detection element is continuously monitored in order to calculate the real-time rotation speed and rotation angle of the rotating output component.

[0018] When the magnetic block reaches the preset maximum or minimum rotation angle, the corresponding magnetic detection element is triggered to respond, and the control system immediately stops the power source based on the response of the magnetic detection element.

[0019] As a further optimization of the angle detection method for the angle feedback rotary actuator, it also includes the following: when the rotary output component moves from the maximum rotation angle to the minimum rotation angle or from the minimum rotation angle to the maximum rotation angle, the control system dynamically adjusts the power output of the power source according to the real-time speed information provided by the optical detection element and the preset speed-time curve.

[0020] Beneficial effects

[0021] The actuator provided by this invention can be widely used in applications requiring high-precision positioning, such as door control systems in smart home appliances and robot joints. The actuator achieves precise control and monitoring of the rotation angle of the rotating output component through the cooperation of a magnetic detection element at the output end and an optical encoder at the power end. The non-contact design of the magnetic block and magnetic detection element not only improves the durability and reliability of the system but also simplifies the installation process and reduces maintenance costs. Simultaneously, the optical encoder and optical detection element work together to provide real-time information on the power source's speed and rotation angle, allowing the control system to dynamically adjust the motor power, achieving smooth start-up, acceleration, deceleration, and stopping, ensuring the accuracy and efficiency of the rotational operation.

[0022] In addition, by fixing the magnetic detection element on a prefabricated circuit board with preset angle points and using elastic barbs to fix the magnetic block, the stability of long-term use is ensured, the angle deviation caused by installation errors is reduced, and it is also easy to assemble quickly. Attached Figure Description

[0023] Figure 1 and Figure 2 This is a schematic diagram of the overall structure of the rotary actuator.

[0024] Figure 3 , Figure 4 and Figure 5 This is a schematic diagram of the internal structure of a rotary actuator.

[0025] Figure 6 This is a schematic diagram of the rotating output component.

[0026] In the diagram: 1. Power source; 2. Reduction gear set; 3. Rotary output component; 4. Optical encoder; 5. Optical detection element; 6. Prefabricated circuit board; 8. Magnetic detection element; 9. Housing; 31. Gear disc; 32. Shaft body; 91. Limiting sleeve; 311. Magnetic block; 312. Elastic barb. Detailed Implementation

[0027] The present invention is further illustrated by the following embodiments, which are intended to more clearly illustrate the technical solution of the present invention, and should not be construed as a limitation.

[0028] like Figures 1 to 6As shown, an angle feedback rotary actuator can be used in applications requiring precise control of rotation angles, such as smart home appliances and robots. It includes a power source 1 located upstream, a reduction gear set 2 driven by the power source 1, a rotary output component 3 located downstream for outputting rotational driving force to the target object, and a housing 9. The rotary output component 3 is rotatably mounted on the housing 9. The power source 1 and the reduction gear set 2 are located inside the housing 9. The reduction gear set 2 amplifies the rotational driving force from the power source 1 and transmits it to the rotary output component 3. The housing 9 protects the internal components from external environmental influences, providing a stable working environment for the internal devices. The power source 1 provides the original power output, and the rotary output component 3 is the part that directly contacts the external load. The reduction gear set 2 is located between the power source 1 and the rotary output component 3. Through a series of gears, it reduces speed while increasing torque, enabling the rotary output component 3 to obtain greater torque and a relatively slower rotational speed, thus driving heavier loads. The power source 1 is a motor.

[0029] like Figure 3 and Figure 6 As shown, the rotary output component 3 has a geared disk 31, on which a magnetic block 311 is fixed. The rotary output component 3 has a preset rotation angle range, which limits the movement path of the magnetic block 311. Magnetic detection elements 8 are respectively provided at both ends of the movement path of the magnetic block 311 within the housing 9. When the magnetic block 311 rotates to the position facing the magnetic detection element 8, the magnetic detection element 8 is triggered to respond. An optical encoder 4 is mounted on the shaft of the power source 1, and an optical detection element 5 is mounted on the housing 9. The rotation of the optical encoder 4 triggers the optical detection element 5 to respond. The geared disk 31 is fixed on the rotary output component 3 and has the magnetic block 311 mounted on it. When the rotary output component 3 rotates, the magnetic block 311 also moves accordingly. When the magnetic block 311 rotates with the rotary output component 3 to a specific position, i.e., the position of the magnetic detection element 8, it triggers the magnetic detection element 8 to generate a signal, thereby allowing the angle of the rotary output component 3 to be detected non-contactly. The two magnetic detection elements 8 are used to detect whether the rotary output component 3 has reached the preset minimum rotation angle corresponding to the initial position and the maximum rotation angle corresponding to the termination position, respectively. Accurately determining the limit position provides a precise reference for controlling the rotary output component 3. For example, when the rotary output component 3 rotates to its limit position, the power can be immediately cut off to avoid overload. Also, after power failure, the position of the rotary output component 3 can be directly located based on the signal from the magnetic detection element 8. The optical encoder 4 is mounted on the shaft of the power source 1. As the power source 1 rotates, the optical detection element 5 generates pulse signals based on changes in the light passing through the optical encoder. These pulse signals are used to calculate the rotational speed and angle, thereby enabling more precise control of the output of the power source 1 and more accurate measurement of the real-time angle of the rotary output component 3.

[0030] like Figure 6As shown, the gear disk 31 has an insertion hole on the side facing the magnetic detection element 8, and the magnetic block 311 is installed in the insertion hole. By embedding the magnetic block 311 into the insertion hole of the gear disk 31, the design of the entire rotary output component 3 can be made more compact. Embedding the magnetic block 311 instead of surface pasting or fixing it can effectively prevent the magnetic block 311 from falling off due to vibration, collision, etc. during long-term use, ensuring the accuracy of angle feedback information. Once the magnetic block 311 falls off, not only will the position detection function be lost, but it may also damage the internal component structure.

[0031] like Figure 6 As shown, the insertion hole opening has a resilient barb 312, which abuts against at least one side surface of the magnetic block 311 housed in the insertion hole. The resilient barb 312 provides additional mechanical restraint, ensuring that the magnetic block 311 is securely fixed within the insertion hole. When the magnetic block 311 is pressed into the insertion hole, the resilient barb 312 slightly deforms to allow the magnetic block 311 to enter, then returns to its original shape to firmly hold the magnetic block 311 in place. This simplifies the assembly process and ensures the long-term stability and accuracy of the angle feedback system.

[0032] Better, such as Figure 6 As shown, the rotary output component 3 includes a shaft body 32 and a gear disk 31 integrally formed with the shaft body 32; the gear disk 31 is housed in the housing 9, and at least one end of the shaft body 32 protrudes from the housing 9.

[0033] Better, such as Figure 2 As shown, the exposed end of the shaft body 32 of the housing 9 has a spline hole, and the end face of the spline hole is flush with the outer wall of the housing 9 in the vicinity.

[0034] Preferably, the reduction ratio between the power source 1 and the rotary output component 3 is 10 to 200.

[0035] like Figure 4 and Figure 5As shown, the magnetic detection element 8 is integrated onto a prefabricated circuit board 6. The prefabricated circuit board 6 has preset mounting points forming a preset angle, which matches the preset rotation angle of the rotating output component 3. The prefabricated circuit board 6 is mounted on the inner wall of the housing 9. By pre-setting the mounting points on the prefabricated circuit board 6, it is ensured that the magnetic detection element 8 is installed at a very precise angle, thus accurately corresponding to the movement path of the magnetic block 311 in the rotating output component 3. Using the prefabricated circuit board 6 with preset points makes the installation of the sensitive component of the magnetic detection element 8 simpler and faster, eliminating the need for complex on-site positioning and adjustment work, and significantly reducing production and assembly time costs while ensuring accuracy. Furthermore, since the magnetic detection element 8 is arranged based on precisely calculated angles, it can more reliably capture the state changes of the rotating output component 3 when it reaches its minimum or maximum rotation angle, reducing the possibility of misjudgment due to installation errors and improving the stability and reliability of the system.

[0036] like Figure 5 As shown, a limiting sleeve portion 91 is formed on the inner wall of the housing 9 and around the rotating output member 3; the prefabricated circuit board 6 has an arc-shaped abutting edge on at least one side, which abuts against the outer wall of the limiting sleeve portion 91. By making the abutting edge of the prefabricated circuit board 6 in close contact with the limiting sleeve portion 91, the radial mounting accuracy of the prefabricated circuit board 6 can be significantly improved, thereby ensuring that the deviation caused by the included angle of the magnetic detection element 8 during the installation process is eliminated.

[0037] Preferably, the preset rotation angle of the rotating output component 3 is 10°~180°.

[0038] Preferably, the magnetic detection element 8 is a Hall element, and the optical detection element 5 is a photoelectric sensor.

[0039] Control of an angle feedback rotary actuator.

[0040] Scenario 1: The rotating output component 3 moves from the initial position corresponding to the minimum rotation angle to the final position corresponding to the maximum rotation angle, including the following steps:

[0041] A1 Initialization: Before starting the power source 1, confirm that the rotating output component 3 is at the minimum rotation angle, that is, the magnetic block 311 is facing a magnetic detection element 8, and the magnetic detection element 8 has responded, indicating that the rotating output component 3 is in the initial position.

[0042] A2 Start-up: Power source 1 is started, driving the rotary output component 3 to rotate via reduction gear set 2. During rotation, magnetic block 311 moves accordingly, moving away from the magnetic detection element 8 corresponding to its initial position; at this point, the magnetic detection element 8 no longer responds. Simultaneously with the start-up of power source 1, the rotational speed of power source 1 is monitored via optical encoder 4 and optical detection element 5. The control system adjusts the output of power source 1 according to a preset rotational speed versus time curve and calibrates the rotational speed deviation of power source 1 based on feedback from optical detection element 5.

[0043] A3 Monitoring and Control: As the rotating output component 3 approaches its maximum rotation angle, the magnetic block 311 gradually moves closer to another magnetic detection element 8. When the magnetic block 311 reaches its maximum rotation angle, it triggers the other magnetic detection element 8 to respond. Upon receiving the signal, the control system immediately stops the power source 1 to prevent overload or exceeding the preset maximum angle. During rotation, the optical detection element 5 continuously receives pulse signals from the optical encoder 4 and calculates the real-time rotation speed. Based on the real-time rotation speed information, the control system can dynamically adjust the power output of the power source 1, for example, gradually reducing the rotation speed when approaching the maximum rotation angle to achieve a smoother stop.

[0044] A4 End: After power source 1 stops, the rotating output component 3 remains at the position of maximum rotation angle.

[0045] Scenario 2: The rotating output component 3 moves from the termination position corresponding to the maximum rotation angle to the initial position corresponding to the minimum rotation angle, including the following steps:

[0046] B1 Initialization: Confirm that the rotary output component 3 is at its maximum rotation angle, that is, the magnetic block 311 is facing a magnetic detection element 8, and the magnetic detection element 8 has responded, indicating that the rotary output component 3 is in the terminated position.

[0047] B2 Reversal: Reverses the direction of power source 1, driving the rotary output component 3 to rotate in the opposite direction via reduction gear set 2. During rotation, magnetic block 311 moves in the opposite direction with the rotary output component 3, moving away from the magnetic detection element 8 corresponding to the termination position. At this time, the magnetic detection element 8 no longer responds. Simultaneously with starting the reverse rotation of power source 1, the rotational speed of power source 1 is monitored via optical encoder 4 and optical detection element 5. The control system adjusts the output of power source 1 according to the preset rotational speed versus time curve and calibrates the rotational speed deviation of power source 1 based on the feedback from optical detection element 5.

[0048] B3 Monitoring and Control: As the rotating output component 3 approaches the minimum rotation angle, the magnetic block 311 gradually moves closer to the magnetic detection element 8 corresponding to its initial position. When the magnetic block 311 returns to the minimum rotation angle, it triggers the corresponding magnetic detection element 8 to respond. Upon receiving the signal, the control system immediately stops the power source 1 to prevent overload or exceeding the preset minimum angle. During this period, the optical detection element 5 continues to monitor the pulse signal generated by the optical encoder 4, providing real-time rotation speed data. When approaching the minimum rotation angle, the control system can slow down the rotation speed of the power source 1 based on the data from the optical detection element 5 to achieve a smooth stop.

[0049] B4 End: After the power source 1 stops, the rotating output component 3 remains at the minimum rotation angle position.

[0050] Scenario 3: Returning the rotating output component 3 to its original position. This means the rotating output component 3 may be stopped at any position, and it may be necessary to return it to the initial position corresponding to the minimum rotation angle. This includes the following steps:

[0051] C1 System Check: Confirm that the control system is ready to receive signals from the magnetic detection element 8.

[0052] C2 determines the current position: The current position of the rotating output component 3 is determined by the existing magnetic detection element 8. If the magnetic block 311 is facing a magnetic detection element 8, it can be determined that the rotating output component 3 is at the maximum or minimum rotation angle; if no magnetic detection element 8 responds, it is determined that the rotating output component 3 is at a position between two extreme positions.

[0053] C3 determines the start-up and reset: Based on the current position, select the correct direction to drive the rotary output component 3. If the rotary output component 3 is at the maximum rotation angle or between the maximum and minimum rotation angles, then the power source 1 needs to be reversed to move the rotary output component 3 towards the minimum rotation angle. If the rotary output component 3 is already at the minimum rotation angle, then no action is required.

[0054] C4 Monitoring and Control: Start driving the rotary output component 3 to move towards the minimum rotation angle. During this process, continuously monitor the status of the magnetic detection element 8. When the rotary output component 3 approaches the minimum rotation angle, the magnetic block 311 will gradually approach the magnetic detection element 8 corresponding to the initial position. Once the magnetic block 311 reaches the minimum rotation angle, it triggers the corresponding magnetic detection element 8 to respond, and the control system immediately stops the power source 1 upon receiving the signal.

[0055] C5 Confirm Return to Position: After the power source 1 stops, reconfirm whether the magnetic detection element 8 remains responsive to ensure that the rotating output element 3 has returned to the minimum rotation angle.

[0056] Scenario 4: Regularly self-check the mechanical deviation of the actuator to ensure the accuracy and reliability of the system. Specific steps are as follows:

[0057] D1 Initialization: Before starting the self-test, confirm that the rotating output component 3 is at the minimum rotation angle, that is, the magnetic block 311 is facing a magnetic detection element 8, and the magnetic detection element 8 has responded, indicating that the rotating output component 3 is in the initial position.

[0058] D2 Start Self-Test: The control system is set to self-test mode to record the number of pulse signals received by the photodetector 5. Power source 1 is started, driving the rotary output component 3 from its minimum rotation angle to its maximum rotation angle via reduction gear set 2.

[0059] D3 Monitoring and Data Collection: During rotation, the optical detection element 5 continuously receives pulse signals from the optical encoder 4 and records the number of these pulse signals. Simultaneously, when the magnetic block 311 reaches its maximum rotation angle, it triggers another magnetic detection element 8 to respond, and the control system immediately stops the power source 1 upon receiving the signal.

[0060] D4 Data Processing and Analysis: The control system calculates the theoretical number of pulse signals that the optical detection element 5 should receive between the minimum and maximum rotation angles based on the reduction ratio. Then, the actual number of recorded pulse signals is compared with the theoretical value.

[0061] D5 Deviation Judgment: If the deviation between the actual number of pulse signals and the theoretical value is within the preset allowable range, the actuator is considered to be working normally and can continue to be used. If the deviation exceeds the preset allowable range, it indicates significant mechanical wear or other faults. At this time, the control system issues an alarm signal, prompting that the actuator or related components need to be maintained or replaced.

[0062] D6 End and Report: After completing the self-test, the control system generates a self-test report, which includes test results, deviation information, and a judgment on whether maintenance is required.

[0063] D7 Return: After the self-test is completed, follow the steps described in Case 2 or 3 to return the rotating output component 3 to the initial position corresponding to the minimum rotation angle, so as to facilitate the next operation.

[0064] This self-checking mechanism helps users identify potential problems in a timely manner, preventing inaccurate angle feedback due to mechanical wear, thereby ensuring the long-term safe and reliable operation of the actuator.

[0065] The above embodiments are exemplary and are intended to illustrate the technical concept and features of this utility model, so that those skilled in the art can understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be included within the scope of protection of this utility model.

Claims

1. An angle feedback rotary actuator, characterized by: The application relates to a power transmission device, which comprises a power source (1) at the upstream end of power transmission, a reduction gear set (2) driven by the power source (1), a rotary output member (3) at the downstream end of power transmission for outputting rotary driving force to an acting object, and a housing (9); the rotary output member (3) is rotatably assembled on the housing (9), the power source (1) and the reduction gear set (2) are arranged in the housing (9), the reduction gear set (2) transmits the rotary driving force of the power source (1) to the rotary output member (3) after increasing the torque, the rotary output member (3) is provided with a gear disc (31), and a magnetic block (311) is fixed on the gear disc (31); the rotary output member (3) has a preset rotation angle range, which limits the movement path of the magnetic block (311); two magnetic detection elements (8) are arranged in the housing (9) and opposite to the two ends of the movement path of the magnetic block (311); the magnetic block (311) triggers the magnetic detection elements (8) to respond when the magnetic block (311) rotates to the position opposite to the magnetic detection elements (8); a light code disc (4) is arranged on the rotating shaft of the power source (1), a light detection element (5) is arranged on the housing (9), and the light code disc (4) rotates to trigger the light detection element (5) to respond; and the power source (1) is a motor.

2. The angle feedback rotary actuator of claim 1, wherein: The gear disc (31) is provided with an embedding hole on one side facing the magnetic detection elements (8), and the magnetic block (311) is arranged in the embedding hole.

3. The angle feedback rotary actuator of claim 2, wherein: The embedding hole is provided with an elastic barb (312) at the opening, and the elastic barb (312) is in contact with at least one side surface of the magnetic block (311) arranged in the embedding hole.

4. The angle feedback rotary actuator of claim 2, wherein: The rotary output member (3) comprises a shaft body (32) and the gear disc (31) integrally formed with the shaft body (32); the gear disc (31) is arranged in the housing (9), and at least one end of the shaft body (32) is exposed from the housing (9).

5. The angle feedback rotary actuator of claim 4, wherein: One end of the shaft body (32) exposed from the housing (9) is provided with a spline hole, and the end face of the spline hole is flush with the outer wall of the housing (9) adjacent to the spline hole.

6. The angle feedback rotary actuator of any one of claims 1 to 5, wherein: The reduction ratio from the power source (1) to the rotary output member (3) is 10-200.

7. The angle feedback rotary actuator of claim 6, wherein: The magnetic detection elements (8) are integrated on a prefabricated circuit board (6), the prefabricated circuit board (6) is provided with element mounting points with a preset included angle, the preset included angle matches the preset rotation angle of the rotary output member (3), and the prefabricated circuit board (6) is arranged on the inner wall of the housing (9).

8. The angle feedback rotary actuator of claim 7, wherein: The inner wall of the housing (9) is formed with a limiting sleeve part (91) around the rotary output member (3); at least one side of the prefabricated circuit board (6) is provided with a circular-arc-shaped contact edge, and the contact edge is in contact with the outer wall of the limiting sleeve part (91).

9. The angle feedback rotary actuator of claim 7, wherein: The preset rotation angle of the rotary output member (3) is 10-180 degrees.

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