Dual position feedback detection structure and steering gear comprising same

Abstract

This application relates to the field of control technology and discloses a dual position feedback detection structure for use in a servo motor, including a Hall sensor detection module and a magnetic encoder sensor detection module; wherein the Hall sensor detection module is externally mounted on the motor housing and is used to detect the rotor position of the motor in real time; the magnetic encoder sensor detection module is fixed on the motor control board and is used to detect the rotor position of the motor in real time; the Hall sensor detection module and the magnetic encoder sensor detection module together form a dual position feedback detection structure.

Description

Technical Field

[0001] This application relates to the field of control technology, and in particular to a dual position feedback detection structure and a servo motor containing the same. Background Technology

[0002] Currently available servo motors only offer single-position feedback detection, resulting in low accuracy, poor anti-interference capabilities, and low durability. Furthermore, the single-position feedback detection structure lacks backup if damaged, leading to poor system reliability. Additionally, the position detection sensor is not externally mounted on the motor housing, making it difficult to disassemble and requiring complete removal and replacement during testing and maintenance, which is cumbersome. To address these issues, a dual-position feedback detection structure has been designed, significantly improving detection accuracy and stability. Moreover, it allows for quick and independent disassembly and assembly during testing and maintenance, greatly accelerating repair processes and demonstrating strong practical value. Utility Model Content

[0003] This application provides a dual position feedback detection structure for use in servo motors, including:

[0004] A Hall sensor detection module, which is externally mounted on the motor housing, is used to detect the rotor position of the motor in real time;

[0005] A magnetic coding sensor detection module is fixed on the control board of the motor and is used to detect the rotor position of the motor in real time.

[0006] The Hall sensor detection module and the magnetic coding sensor detection module together form a dual-position feedback detection structure.

[0007] Optionally, the Hall sensor detection module further includes a Hall sensor positioning post, a Hall sensor pad, and a Hall sensor electronic board.

[0008] Optionally, the Hall sensor electronic board is fixed to the motor housing by screws, the Hall sensor gasket, and the Hall sensor positioning post.

[0009] Optionally, the Hall sensor positioning post is used to prevent the screw and the electronic board from conducting.

[0010] Optionally, the magnetic encoder sensor detection module includes a magnetic encoder, a small magnet, a control board, and a reducer output shaft.

[0011] Optionally, the small magnet is fixed on the output shaft of the reducer, the magnetic encoder is fixed on the control board, the small magnet and the magnetic encoder are arranged opposite to each other, and the magnetic encoder sensor detects the small magnet to realize dual-position detection of the rotor position of the motor.

[0012] Optionally, the motor housing is provided with threads.

[0013] Optionally, an insulating block is also provided between the Hall sensor electronic board and the motor housing.

[0014] Optionally, the surface of the Hall sensor positioning post is coated with an insulating layer.

[0015] This application also provides a servo motor, which includes a dual position feedback detection structure as described in the above scheme. Attached Figure Description

[0016] Figure 1 The diagram shown is an overall schematic of the dual-position detection module of this application.

[0017] Figure 2 The diagram shown is a schematic of the Hall sensor detection module of this application;

[0018] Figure 3 The diagram shown is a schematic of the magnetic coding sensor detection module of this application;

[0019] Figure 4 The image shown is an enlarged view of the insulating layer of the Hall sensor positioning post of this application;

[0020] Figure 5 The diagram shown is an overall schematic of the dual-position detection module of this application.

[0021] Figure 6 The diagram shows an embodiment of the small magnet and output shaft of this application.

[0022] Figure 7 The diagram shown is an embodiment of the small magnet and output shaft of this application. Detailed Implementation

[0023] The following embodiments further illustrate the technical solutions of this application. It should be understood that the specific embodiments described herein are merely for explaining this application. Furthermore, it should be noted that, for ease of description, only the parts relevant to this application are shown in the accompanying drawings, not all of them.

[0024] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0025] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0026] The term "aircraft" is defined as an air transport system of any size having at least one lift propeller as its propulsion source. The term "aircraft" can include both "manned" and "unmanned" air transport systems. A manned aircraft can mean an air transport system carrying one or more human passengers, none of whom have control over the aircraft. A manned aircraft can also mean an air transport system carrying one or more human passengers, some of whom, or one of whom, has partial or full control over the aircraft. An unmanned aircraft can mean an air transport system that does not carry any human passengers and flies autonomously or is remotely controlled by someone at a distance.

[0027] Embodiments of this application are described below with reference to the accompanying drawings. Figure 1 As shown, the embodiments of this application generally describe a dual position feedback detection structure applied to a servo motor 10, including: a Hall sensor detection module 100 and a magnetic code sensor detection module 200.

[0028] Servo 10 has an output shaft 204 ( Figure 1 Not shown in the image, please refer to [the source]. Figure 3 The output shaft 204 rotates about the central axis 55 of the servo motor 10. The output shaft 204 is connected to the rotor 15, and when the output shaft 204 rotates about the central axis 55, the rotor 15 also rotates about the central axis 55. In one embodiment, the rotor 15 is spaced apart from the central axis 55, and the Hall sensor detection module 100 is placed adjacent to the rotor 15; similarly, the Hall sensor detection module 100 is also spaced apart from the central axis 55. Now refer to... Figure 1 The Hall sensor detection module 100 is located above the rotor 15 and is physically separated from the rotor 15 by the motor housing 101. In another embodiment, the Hall sensor detection module 100 may be placed below the rotor 15.

[0029] Although the Hall sensor detection module 100 is shown in the figure to be very close to the rotor 15, it should be understood that in some other embodiments, the Hall sensor detection module 100 may also be at some distance from the rotor 15.

[0030] The "dual position feedback detection structure" on the servo 10 in this application mainly refers to the use of two independent position sensors in the servo system to measure position information, which is mainly used to improve system performance, accuracy or reliability.

[0031] Specifically, in this embodiment, the servo motor 10 is a servo motor, which is an application form of a miniaturized and integrated motor servo system. It has a highly integrated closed-loop control system and precise angle positioning capability. Its core function is to convert simple electrical signals into high-precision, anti-interference angle output. It is an indispensable execution unit in the control field.

[0032] Now refer to Figure 2 As shown, specifically, the Hall sensor detection module 100 in this application is externally mounted on the housing 101 of the motor and is used to monitor the rotor 15 in the motor in real time. Figure 2 Displayed as Figure 5 A partial cross-sectional view along the CC direction.

[0033] from Figure 5 As can be seen, the outer surface of the Hall sensor detection module 100 has an arc shape, which will be described in detail later. Of course, in other embodiments, it can also have other shapes, such as a straight line, and this embodiment does not impose further limitations.

[0034] In this embodiment, the Hall sensor detection module 100 has two end faces, and fasteners 105 are provided on each end face for fastening the Hall sensor detection module 100 to the housing 101.

[0035] In this embodiment, the Hall sensor detection module 100 serves as the main feedback system in the dual feedback system and is placed near the rotor 15 to detect various states of the rotor 15, such as the rotational speed, position, or direction of rotation of the rotor 15.

[0036] like Figure 3 As shown, specifically, in this application, an additional secondary feedback system is added on the basis of the main feedback system of the motor. The secondary feedback system is implemented by a magnetic code sensor detection module 200. Specifically, the magnetic code sensor detection module 200 is located at the load end and is fixed on the output shaft of the motor. In this embodiment, the magnetic code sensor detection module 200 is located on the control board 201 of the motor and is used to detect the speed, position or direction of rotation of the rotor in the motor in real time.

[0037] Please refer to now. Figure 1 As shown, in this embodiment, the Hall sensor detection module 100 and the magnetic code sensor detection module 200 together constitute the dual position feedback detection structure in this application. This structure can realize dual position detection of the position, speed and direction of the rotor 15 in the motor.

[0038] Please continue reading now. Figure 1 As shown, it is worth noting that the motor with a dual position detection structure in this application can significantly improve the redundancy of the feedback system: that is, when two independent feedback modules are used to measure the position of the same rotor 15 (in this embodiment, the Hall sensor detection module 100 and the magnetic code sensor detection module 200), by comparing their readings, once the difference in readings is too large, or when the difference exceeds a certain threshold, a fault alarm is triggered, which can improve the safety of the feedback system in critical applications.

[0039] The dual position feedback detection structure on the servo motor can be used to improve accuracy or enhance reliability. Its core lies in using two independent position information sources, specifically the Hall sensor detection module 100 and the magnetic code sensor detection module 200 in this embodiment. By comparing the values ​​of the two sensor modules, the control system can more accurately control the final output position or detect and respond to sensor faults, thereby improving the performance and safety of the entire servo motor system.

[0040] Dual-position detection offers higher accuracy, stronger anti-interference capabilities, and greater durability. The dual-position feedback detection structure serves as a backup for each other, improving system reliability. In this embodiment, the external Hall sensor detection module 100 is assembled in a split manner, consisting of a Hall sensor positioning post 102, a Hall sensor pad 103, and a Hall sensor electronic board 104. These components can be installed or removed separately. If any component malfunctions and requires repair, it can be quickly and independently disassembled, greatly reducing maintenance costs and demonstrating excellent practical value.

[0041] Please continue reading now. Figure 2 In this embodiment, the Hall sensor detection module 100 consists of three parts, specifically including a Hall sensor positioning post 102, a Hall sensor pad 103, and a Hall sensor electronic board 104.

[0042] During assembly, first attach the Hall sensor electronic board 104 to the outer shell of the motor housing 101. It is important to note that this refers to attaching it to the outside of the motor housing 101.

[0043] An insulating block 107 is provided between the Hall sensor electronic board 104 and the motor housing 101, with at least one insulating block 107 located outside the motor housing 101. The Hall sensor electronic board 104 is then positioned above the insulating block 107, thus creating a gap 60 between the Hall sensor electronic board 104 and the motor housing 101. In this embodiment, the bottom side of the Hall sensor electronic board 104 abuts against the insulating block 107.

[0044] Please refer to now. Figure 4 , Figure 4 for Figure 2 A cross-sectional view of the Hall sensor positioning post 102 in this embodiment shows that the Hall sensor positioning post 102 is cylindrical and has a hollow channel 108. The Hall sensor positioning post 102 has two end faces, a first end face and a second end face. One end face of the Hall sensor positioning post 102 is attached to the upper end face (the side opposite to the lower end face) of the Hall sensor electronic board 104. Furthermore, the sensor gasket 103 in this embodiment is circular and has a hollow structure, similar to a washer. The Hall sensor gasket 103 is then placed on the second end face of the Hall sensor positioning post 102, and a screw 105 is passed through the hollow structure of the sensor gasket 103 and through the hollow channel 108 of the Hall sensor positioning post 102, thus fixing the Hall sensor electronic board 104, the Hall sensor gasket 103, and the Hall sensor positioning post 102 to the motor housing 101. It should be understood that the screw 105 can also be replaced by other fasteners, and this application does not impose any limitations on this. The Hall sensor electronic board 104 is safely placed adjacent to the insulating block 107 and the Hall sensor positioning post 102.

[0045] In this application, screw 105 is preferably an M2 screw, but other sizes of screws can also be used, and this application does not impose any restrictions.

[0046] In this embodiment, after the M2 screw passes through the Hall sensor positioning post 102 and the Hall sensor pad 103, the Hall sensor electronic board 104 is fixed to the motor housing 101.

[0047] Furthermore, in this application, the Hall sensor positioning post 102 has the function of insulation and isolation, used to block the electrical conduction between the screw 105 and the Hall sensor electronic board 104.

[0048] Please continue to refer to Figure 4 , Figure 4 for Figure 2A cross-sectional view of the Hall sensor positioning post 102. Specifically, in this embodiment, the surface of the Hall sensor positioning post 102 is coated with an insulating layer 300, which ensures absolute insulation of the structure. This completely eliminates the risk of continuity while maintaining magnetic circuit performance. Therefore, the Hall sensor positioning post 102 can prevent continuity between the screw 105 and the Hall sensor electronic board 104; otherwise, if the screw 105 and the Hall sensor electronic board 104 become conductive, the Hall sensor detection module 100 will fail. In another alternative embodiment, the Hall sensor positioning post 102 itself is made of insulating material, thus eliminating the need for the insulating layer 300.

[0049] Figure 5 This is a top view of the Hall sensor electronic board 104, which has an arc shape or a curved surface shape adapted to the curved surface of the rotor 15. In this embodiment, the length of the Hall sensor electronic board 104 is equivalent to one-quarter of the circumference of a circle. In other words, the shape of the Hall sensor electronic board 104 can cover one-quarter of the surface of the rotor 15. It should also be noted that the length of the Hall sensor electronic board 104 can also be greater than... Figure 5 The length shown can be longer or shorter. For example, it could be equivalent to one-sixteenth of the circumference of a circle, or one-eighth of the circumference of a circle, or one-fifth of the circumference of a circle, or one-half of the circumference of a circle, and so on. Now refer back to Figure 1 The rotor 15 has a radial thickness located away from the central axis 55. For example... Figure 1 As shown, the thickness of rotor 15 is thinner than the thickness of Hall sensor electronic board 104. Of course, in other embodiments, the thickness of rotor 15 can be slightly thicker than the thickness of Hall sensor electronic board 104. Of course, in other embodiments, the thickness of rotor 15 can also be comparable to the thickness of Hall sensor electronic board 104.

[0050] Furthermore, in this embodiment, since the Hall sensor detection module 100 is externally mounted on the motor housing 101 and not inside the motor, maintenance no longer requires the cumbersome process of removing the motor coil and then removing the Hall sensor, greatly reducing maintenance costs and efficiency.

[0051] Please refer to now. Figure 3 It is worth noting that, in Figure 3 In addition to the main feedback system, a secondary feedback system is added. In this embodiment, the secondary feedback detection system uses a magnetic code sensor detection module 200, which is installed on the load end of the servo motor. Specifically, in this embodiment, the magnetic code sensor detection module 200 is installed near the output shaft 204 of the servo motor to measure the actual working condition of the load.

[0052] like Figure 3 As shown, in one embodiment, the motor also has a central shaft 55, and on a plane perpendicular to the central shaft, there is a horizontal central shaft 56. With the horizontal central shaft 56 as a reference, the distance between the magnetic encoder sensor detection module 200 and the horizontal central shaft 56 is greater than the distance between the Hall sensor detection module 100 and the rotor 15 and the horizontal central shaft 56.

[0053] In another embodiment, also with the horizontal central axis 56 as a reference, the distance of the magnetic coding sensor detection module 200 from the horizontal central axis 56 is approximately the same as the distance of the Hall sensor detection module 100 and the rotor 15 from the horizontal central axis 56.

[0054] Now continue to refer to Figure 3 In this embodiment, the magnetic encoder sensor detection module 200 specifically includes a magnetic encoder 201, a small magnet 202, a control board 203, and a reducer output shaft 204. Specifically, in this embodiment, the small magnet 202 is fixed on the motor output shaft 204, such as... Figure 3 As shown, in this embodiment, the width of the small magnet 202 is smaller than the width of the output shaft 204 so that the small magnet 202 can be precisely positioned on the output shaft 204. Specifically, in one embodiment, the small magnet 202 is rectangular; of course, in other embodiments, the small magnet 202 can also be other shapes, such as circular, as long as the small magnet 202 can be positioned on the output shaft 204. Figure 1 As shown, the output shaft 204 has two ends, namely a first end and a second end. The first end is the end of the output shaft 204 that is close to the motor centrifugal fan, and the second end is the end of the output shaft 204 that is close to the motor ESC module. In this embodiment, the small magnet 202 is located at the first end of the output shaft 204.

[0055] Please refer to now. Figure 6 , Figure 6 yes Figure 3 A partially enlarged view of the magnetic encoder sensor detection module 200 shows that a cavity 205 exists at the first end of the output shaft 204. The shape of this cavity can be adapted to the shape of the small magnet 202. Figure 6 As shown, in this embodiment, the cavity 205 is a downwardly recessed rectangle, and the small magnet 202 is also rectangular and is stuck inside the cavity 205. In order to make the small magnet 202 securely stuck inside the cavity 205, the width of the small magnet 202 can be slightly wider than the width of the cavity 205, so that the two can be interference-fitted and stuck more tightly.

[0056] In another embodiment, such as Figure 7As shown, the small magnet 202 has a certain curved surface shape, and the cavity 205 also has a certain curved surface shape. Similar to the previous one, the width of the curved cross section of the small magnet 202 is slightly larger than the width of the curved cross section of the cavity 205, so that the two can be interference-fitted and locked more tightly.

[0057] Please continue reading now. Figure 3 The magnetic encoder 201 is fixed on the motor control board 203. The small magnet 202 and the magnetic encoder 201 are set opposite to each other. The opposite setting means that their distance is very close, but there is a space 206 in between to ensure that the magnetic encoder 201 can sense the magnetic field change of the small magnet 202.

[0058] For example, in this embodiment, the width of the magnetic encoder 201 is equivalent to the width of the small magnet 202. Of course, in other embodiments, the width of the magnetic encoder 201 may be slightly wider or slightly narrower than the width of the small magnet 202.

[0059] Please continue reading now. Figure 3 The small magnet 202 rotates together with the motor output shaft 204. The magnetic encoder 201 detects the position of the rotor 15 and works with the Hall sensor detection module 100 to achieve dual-position detection of the motor rotor position.

[0060] Specifically, the magnetic encoder 201 detects the position of the rotor 15 through non-contact magnetic field sensing. Its core is to use Hall elements or magnetoresistive elements to capture the changes in the magnetic field of the rotor 15, and then convert them into high-precision angle / position signals through signal processing.

[0061] In addition, in one embodiment, the motor housing 101 is provided with threads (not shown in the figure) to facilitate the fixing of the Hall sensor detection module 100 to the motor housing 101. Specifically, the present application uses screws 105 to fix it to the motor housing 101. Specifically, the screws 105 are screwed into the motor housing 101.

[0062] Of course, in another embodiment, the outer contour of the motor housing 101 is a straight plate shape, and the Hall sensor detection module 100 can be snapped onto the motor housing 101 in the form of a snap.

[0063] The second embodiment of this application also provides a servo motor, which includes the dual position feedback detection structure described in the above-described scheme. The servo motor used in the second embodiment includes the dual position feedback detection structure described in the above-described scheme, and its structure and principle are similar to those previously described. Please refer to the above description for details, which will not be repeated here.

[0064] The servo motor employing this dual-position feedback detection structure has the following beneficial effects:

[0065] 1 Dual sensor layout

[0066] Motor-end sensor: Installed on the output shaft of the servo motor, it uses a Hall sensor to detect the position of the motor rotor.

[0067] Load-side sensor: Installed at the end of the servo motor output shaft, it uses a magnetic encoder to detect the position of the motor rotor through a small magnet.

[0068] 2. Redundancy Design

[0069] The sensors at the motor end and the load end can be redundantly backed up, so that if one sensor fails, the other sensor can continue to work.

[0070] 3. External structure

[0071] The Hall sensor's detection structure is externally mounted on the motor housing, making it easy to disassemble. During testing and maintenance, it requires complete disassembly and replacement, which is simple to operate. At the same time, it can be quickly and independently disassembled and assembled during testing and maintenance, greatly speeding up the maintenance process and making it highly practical.

[0072] Dual-position detection offers higher accuracy, stronger anti-interference capabilities, and greater durability. The dual-position feedback detection structure can also serve as a backup for each other, improving system reliability. Meanwhile, the external Hall sensor detection module can be assembled separately, allowing the position sensor to be quickly and independently disassembled and reassembled during testing and maintenance, greatly reducing maintenance costs and demonstrating excellent practical value.

[0073] The above embodiments are merely illustrative of the principles and effects of this application. Any person skilled in the art can modify or alter the above embodiments without departing from the purpose of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the purpose disclosed in this application should still be covered by the claims of this application.

Claims

1. A dual-position feedback detection structure, applied to a servo motor, characterized in that, include: A Hall sensor detection module, which is externally mounted on the motor housing, is used to detect the rotor position of the motor in real time; A magnetic coding sensor detection module is fixed on the control board of the motor and is used to detect the rotor position of the motor in real time. The Hall sensor detection module and the magnetic coding sensor detection module together form a dual-position feedback detection structure.

2. The dual-position feedback detection structure according to claim 1, characterized in that, The Hall sensor detection module also includes a Hall sensor positioning post, a Hall sensor pad, and a Hall sensor electronic board.

3. The dual-position feedback detection structure according to claim 2, characterized in that, The Hall sensor electronic board is fixed to the motor housing by screws, the Hall sensor gasket, and the Hall sensor positioning post.

4. The dual-position feedback detection structure according to claim 3, characterized in that, The Hall sensor positioning post is used to prevent the screw and the electronic board from conducting electricity.

5. The dual-position feedback detection structure according to claim 1, characterized in that, The magnetic encoder sensor detection module includes a magnetic encoder, a small magnet, a control board, and a reducer output shaft.

6. The dual-position feedback detection structure according to claim 5, characterized in that, The small magnet is fixed on the output shaft of the reducer, and the magnetic encoder is fixed on the control board. The small magnet and the magnetic encoder are arranged facing each other.

7. The dual-position feedback detection structure according to claim 1, characterized in that, The motor housing is threaded.

8. The dual-position feedback detection structure according to claim 2, characterized in that, An insulating block is also provided between the Hall sensor electronic board and the motor housing.

9. The dual-position feedback detection structure according to claim 2, characterized in that, The surface of the Hall sensor positioning post is coated with an insulating layer.

10. A servo motor, characterized in that, The servo motor includes the dual position feedback detection structure as described in any one of claims 1-9.

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