Driving structure with built-in sensor for angle measurement

Abstract

The utility model relates to the technical field of speed reducers, in particular to a driving structure with a built-in sensor for angle measurement, which comprises a speed reducer stator, a speed reducer rotor, a mandrel, an angle sensor and a power element. The mandrel comprises a long shaft, a short shaft and a coupler, the long shaft and the short shaft are rotationally arranged in the speed reducer stator, the second end of the long shaft is connected with the first end of the short shaft through the coupler, the first end of the long shaft is connected with the speed reducer rotor, and the second end of the short shaft is connected with the input end of the angle sensor; the angle sensor is arranged on the power element; the output end of the power element is connected with the speed reducer rotor. According to the utility model, the mandrel is divided into the long shaft and the short shaft which are connected through the coupling, so that the problem of angle signal distortion caused by form and location tolerance of the mandrel is effectively solved, and the measurement precision is effectively improved.

Description

Technical Field

[0001] This utility model relates to the field of speed reducer technology, and in particular to a drive structure with a built-in sensor for measuring angle. Background Technology

[0002] Speed ​​reducers, as transmission components, are widely used in engineering machinery, vehicle engineering, robotics, and other fields. In practical applications, some situations requiring precision transmission necessitate knowing the speed reducer's rotation angle; therefore, sensors are needed to measure the speed reducer's rotation angle. The methods for measuring the speed reducer's rotation angle using sensors can be broadly categorized into two types:

[0003] ① The rotation angle of the output end is obtained by measuring the rotation of the input end of the reducer and converting it according to the reduction ratio.

[0004] ② The rotation angle can be directly obtained by measuring the rotation of the output end of the reducer.

[0005] In principle, the second measurement method is clearly superior because the first method requires reduction ratio conversion, and the manufacturing precision of the reducer affects the accuracy of the reduction ratio. However, since other components often interfere with the output of the reducer, it is often difficult to place the sensor at the output for measurement. With the improvement of design methods, more and more reducers are now designed to use the second measurement method, but due to the different methods, the accuracy varies. Furthermore, the spindle of a traditional reducer is a rigid shaft. Because the spindle is very long, it is difficult to guarantee geometric tolerances such as straightness and coaxiality, which often leads to failures in actual use, such as shaft breakage and sensor signal distortion.

[0006] Therefore, it is necessary to provide a new drive structure for measuring angles using a built-in sensor to solve the above-mentioned technical problems. Utility Model Content

[0007] The main purpose of this invention is to provide a drive structure with a built-in sensor for measuring angles, aiming to solve the problem of angle sensing signal distortion caused by the form and position tolerances of the existing reducer spindle.

[0008] To achieve the above objectives, the present invention proposes a drive structure for measuring angles using a built-in sensor, comprising a reducer stator, a reducer rotor, a spindle, an angle sensor, and a power element. The reducer stator and the reducer rotor are coaxially rotatably connected. The spindle includes a long shaft, a short shaft, and a coupling. The long shaft and the short shaft are rotatably disposed within the reducer stator, and the second end of the long shaft is connected to the first end of the short shaft via the coupling. The first end of the long shaft is connected to the reducer rotor, and the second end of the short shaft is connected to the input end of the angle sensor. The angle sensor is mounted on the power element, and the output end of the power element is connected to the reducer rotor.

[0009] Optionally, the coupling is provided with a through hole arranged along the axial direction of the coupling; the mandrel further includes two pins, the second end of the long shaft is disposed at the first end of the through hole through the pin, and the first end of the short shaft is disposed at the second end of the through hole through the other pin.

[0010] Optionally, a gap is provided between the second end of the long shaft and the first end of the short shaft.

[0011] Optionally, the end faces of both ends of the coupling are respectively provided with blind grooves corresponding to the two pins. The blind grooves are arranged radially along the coupling and communicate with the through hole. The width of the blind grooves matches the diameter of the pins. The two pins pass through the long shaft and the short shaft respectively and are respectively disposed in the corresponding blind grooves.

[0012] Optionally, the blind grooves at both ends of the coupling are arranged perpendicular to each other.

[0013] Optionally, the angle sensor includes a sensor stator and a sensor rotor, the power element is fixedly connected between the sensor stator and the reducer stator, and the sensor stator and the sensor rotor are coaxially rotatably connected; the short shaft includes a docking section and a mounting section connected to each other, the docking section is disposed in the through hole, and the mounting section is connected to the sensor rotor.

[0014] Optionally, the power element includes a power element stator and a power element rotor, the power element stator is connected between the reducer stator and the sensor stator, and the power element rotor is fixedly connected to the spindle.

[0015] Optionally, the stator of the power element is provided with a bearing, and the short shaft is rotatably connected to the stator of the power element through the bearing.

[0016] In this utility model, when the reducer is operating, the reducer stator remains stationary, and the spindle drives the reducer rotor to rotate under external drive. The angle sensor can measure the rotation angle data of the reducer rotor. The spindle is divided into a long shaft and a short shaft connected by a coupling, which effectively solves the problem of angle signal distortion caused by the spindle form and position tolerance and effectively improves the measurement accuracy. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the reducer structure in an embodiment of the present utility model;

[0019] Figure 2 for Figure 1 Enlarged view of part I in the image.

[0020] Explanation of icon numbers:

[0021] 1. Gearbox stator, 2. Gearbox rotor, 3. Spindle, 3.1. Long shaft, 3.2. Short shaft, 3.3. Coupling, 3.3.1. Through hole, 3.3.2. Blind slot, 3.4. Pin, 4. Angle sensor, 4.1. Sensor stator, 4.2. Sensor rotor, 5. Power component, 6. Bearing.

[0022] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0025] Furthermore, in this utility model, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0026] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0027] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0028] This invention proposes a drive structure with a built-in sensor for measuring angles, aiming to solve the problem of angle sensing signal distortion caused by the form and position tolerances of the existing reducer spindle.

[0029] like Figure 1 and Figure 2 As shown, the drive structure for measuring angles using a built-in sensor includes a reducer stator 1, a reducer rotor 2, a spindle 3, an angle sensor 4, and a power element 5. The reducer stator 1 and the reducer rotor 2 are coaxially rotatably connected. The spindle 3 includes a long shaft 3.1, a short shaft 3.2, and a coupling 3.3. The long shaft 3.1 and the short shaft 3.2 are rotatably mounted inside the reducer stator 1, and the second end of the long shaft 3.1 is connected to the first end of the short shaft 3.2 through the coupling 3.3. The first end of the long shaft 3.1 is connected to the reducer rotor 2, and the second end of the short shaft 3.2 is connected to the input end of the angle sensor 4. The angle sensor 4 is mounted on the power element 5. The output end of the power element 5 is connected to the reducer rotor 2. When the reducer is in operation, the reducer stator 1 remains stationary, and the reducer rotor 2 drives the spindle 3 to rotate under the drive of the power element 5. The angle sensor 4 can measure the rotation angle data of the reducer rotor 2, dividing the spindle 3 into a long shaft 3.1 and a short shaft 3.2 connected by a coupling 3.3. This effectively solves the problem of angle signal distortion caused by the form and position tolerance of the spindle 3 and effectively improves the measurement accuracy.

[0030] The coupling 3.3 has a through hole 3.3.1 arranged axially along the coupling 3.3; the spindle 3 also includes two pins 3.4, the second end of the long shaft 3.1 is disposed at the first end of the through hole 3.3.1 through the pin 3.4, and the first end of the short shaft 3.2 is disposed at the second end of the through hole 3.3.1 through the other pin 3.4. The long shaft 3.1 and the short shaft 3.2 are respectively connected to the coupling 3.3 through the pins 3.4, which is simple in structure and easy to disassemble and assemble.

[0031] A gap is provided between the second end of the major shaft 3.1 and the first end of the minor shaft 3.2. The major shaft 3.1 and the minor shaft 3.2 are respectively inserted into the two ends of the through hole 3.3.1, and a gap is provided between them, which can effectively compensate for the form and position tolerances of the major shaft 3.1 and the minor shaft 3.2, thereby ensuring the measurement accuracy of the angle sensor 4.

[0032] The end faces of the coupling 3.3 are respectively provided with blind grooves 3.3.2 corresponding to the two pins 3.4. The blind grooves 3.3.2 are arranged radially along the coupling 3.3 and are connected to the through hole 3.3.1. The width of the blind grooves 3.3.2 matches the diameter of the pins 3.4. The two pins 3.4 pass through the long shaft 3.1 and the short shaft 3.2 respectively and are respectively set in the corresponding blind grooves 3.3.2. When assembling the mandrel 3, after passing the pin 3.4 through the long shaft 3.1 or the short shaft 3.2, insert the long shaft 3.1 or the short shaft 3.2 into the through hole 3.3.1. At this time, the pin 3.4 is set in the blind groove 3.3.2. The blind groove 3.3.2 only has an opening on the end face of the coupling 3.3, which can prevent the pin 3.4 from falling out after loosening. The width of the blind groove 3.3.2 matches the diameter of the pin 3.4 and allows the pin 3.4 to achieve a small rotation in the blind groove 3.3.2 to ensure the accuracy of the angle sensing signal of the reducer rotor 2.

[0033] The blind grooves 3.3.2 at both ends of the coupling 3.3 are arranged perpendicularly to each other. The two blind grooves 3.3.2 are arranged perpendicularly, which allows the long shaft 3.1 to rotate slightly relative to the short shaft 3.2 in two mutually perpendicular directions to compensate for form and position tolerances.

[0034] The angle sensor 4 includes a sensor stator 4.1 and a sensor rotor 4.2. The power element 5 is fixedly connected between the sensor stator 4.1 and the reducer stator 1. The sensor stator 4.1 and the sensor rotor 4.2 are coaxially rotatably connected. The short shaft 3.2 includes a docking section and a mounting section connected to each other. The docking section is set in the through hole 3.3.1, and the mounting section is connected to the sensor rotor 4.2.

[0035] The power element 5 includes a power element stator and a power element rotor. The power element stator is connected between the reducer stator 1 and the sensor stator 4.1, and the power element rotor is fixedly connected to the spindle 3. The power element stator is equipped with a bearing 6, and the short shaft 3.2 is rotatably connected to the power element stator via the bearing 6. The spindle 3, composed of the long shaft 3.1, coupling 3.3, and short shaft 3.2, transmits power between the power element rotor and the reducer rotor 2, effectively solving the problem of angle sensing signal distortion caused by form and position tolerances.

[0036] 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. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A driving structure for measuring angles using a built-in sensor, characterized in that, The device includes a speed reducer stator (1), a speed reducer rotor (2), a spindle (3), an angle sensor (4), and a power element (5). The speed reducer stator (1) is coaxially rotatably connected to the speed reducer rotor (2). The spindle (3) includes a long shaft (3.1), a short shaft (3.2), and a coupling (3.3). The long shaft (3.1) and the short shaft (3.2) are rotatably disposed within the speed reducer stator (1), and the second end of the long shaft (3.1) is connected to the first end of the short shaft (3.2) through the coupling (3.3). The first end of the long shaft (3.1) is connected to the speed reducer rotor (2), and the second end of the short shaft (3.2) is connected to the input end of the angle sensor (4). The angle sensor (4) is disposed on the power element (5). The output end of the power element (5) is connected to the speed reducer rotor (2).

2. The driving structure for measuring angle using a built-in sensor as described in claim 1, characterized in that, The coupling (3.3) is provided with a through hole (3.3.1) arranged along the axial direction of the coupling (3.3); the mandrel (3) also includes two pins (3.4), the second end of the long shaft (3.1) is disposed at the first end of the through hole (3.3.1) through the pin (3.4), and the first end of the short shaft (3.2) is disposed at the second end of the through hole (3.3.1) through the other pin (3.4).

3. The driving structure for measuring angle using a built-in sensor as described in claim 2, characterized in that, A gap is provided between the second end of the long axis (3.1) and the first end of the short axis (3.2).

4. The driving structure for measuring angle using a built-in sensor as described in claim 3, characterized in that, The end faces of the coupling (3.3) are respectively provided with blind grooves (3.3.2) corresponding to the two pins (3.4). The blind grooves (3.3.2) are arranged radially along the coupling (3.3) and are connected to the through hole (3.3.1). The width of the blind grooves (3.3.2) matches the diameter of the pins (3.4). The two pins (3.4) pass through the long shaft (3.1) and the short shaft (3.2) respectively and are respectively set in the corresponding blind grooves (3.3.2).

5. The driving structure for measuring angle using a built-in sensor as described in claim 4, characterized in that, The blind grooves (3.3.2) at both ends of the coupling (3.3) are arranged perpendicularly to each other.

6. The driving structure for measuring angle using a built-in sensor as described in claim 5, characterized in that, The angle sensor (4) includes a sensor stator (4.1) and a sensor rotor (4.2). The power element (5) is fixedly connected between the sensor stator (4.1) and the reducer stator (1). The sensor stator (4.1) and the sensor rotor (4.2) are coaxially rotatably connected. The short shaft (3.2) includes a docking section and a mounting section connected together. The docking section is disposed in the through hole (3.3.1), and the mounting section is connected to the sensor rotor (4.2).

7. The driving structure for measuring angle using a built-in sensor as described in claim 6, characterized in that, The power element (5) includes a power element stator and a power element rotor. The power element stator is connected between the reducer stator (1) and the sensor stator (4.1), and the power element rotor is fixedly connected to the spindle (3).

8. The driving structure for measuring angle using a built-in sensor as described in claim 7, characterized in that, The stator of the power element is provided with a bearing (6), and the short shaft (3.2) is rotatably connected to the stator of the power element through the bearing (6).

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