Hollow planetary reduction module with double detection function of rotating speed

Abstract

The utility model discloses a hollow planetary reduction module with rotation speed double detection function, including the module body that mutually embedded mode assembly motor part and reduction part constitute and built -in rotation speed double detection subassembly, and rotation speed double detection subassembly contains the synchronous detection shaft of the hollow channel of wearing in primary, two -level sun tooth installation shaft, the annular magnetic steel of the sleeve of rotor support outside, the output shaft magnetic support of the connection of synchronous detection shaft, and the integrated monitoring circuit fixed in the inside of drive cover plate, integrated monitoring circuit is equipped with two respectively corresponding annular magnetic steel, the hall sensor of output shaft magnetic support and data transmission port. The utility model realizes motor input and module output rotation speed synchronous detection, and the volume reduces by 25% or more, and data delay is less than or equal to 5ms, and detection error is less than or equal to plus or minus 1r / min, and assembly efficiency improves 50%, and is suitable for compact installation scene, and improves equipment fault early warning and dynamic response ability.

Description

Technical Field

[0001] This utility model relates to the field of robot motion, and in particular to a hollow planetary deceleration module with dual rotational speed detection function. Background Technology

[0002] In the transmission control of robots and automated equipment, the rotational speed monitoring of planetary reducer modules is a crucial step in achieving precise motion control. Current technologies for rotational speed monitoring of planetary reducer modules mostly employ a "single-path detection + external sensor" approach, which has the following significant drawbacks:

[0003] 1. Single monitoring dimension: It only detects a single parameter, such as the motor input speed or the module output speed, and cannot simultaneously obtain the "input-output" speed difference. This makes it impossible for the equipment to judge abnormal operating conditions such as transmission efficiency decay and gear wear in real time, which can easily lead to control lag.

[0004] Second, the defects of external sensors are prominent: an additional encoder or speed sensor needs to be installed, which not only requires precise alignment, but also takes a long time and is costly to assemble; at the same time, the wire connection between the sensor and the control system is susceptible to electromagnetic interference, the speed detection error reaches ±5r / min, and the data delay is 10-20ms, which affects the dynamic response.

[0005] 3. Space Occupancy and Structural Conflicts: External sensors require additional installation space, which conflicts with the compact layout requirements of miniaturized equipment (such as collaborative robots with an arm length ≤1m); moreover, the external structure of the sensors is prone to interference with other components of the equipment, reducing operational stability.

[0006] To address the aforementioned issues, a planetary deceleration module integrating "input-output" dual speed detection and employing a built-in hollow structure needs to be designed to achieve the goals of full coverage of monitoring dimensions, compact size, and high data stability. Utility Model Content

[0007] To address the issues of single monitoring and spatial conflicts between external sensors in existing technologies, this invention utilizes a design of "hollow shaft built-in transmission + integrated dual detection components" to simultaneously achieve real-time detection of motor input speed and module output speed within the planetary reduction module.

[0008] A hollow planetary reducer module with dual rotational speed detection function includes a module body and a built-in dual rotational speed detection component.

[0009] The module body includes a motor part and a reduction part that are embedded in each other. The dual speed detection component includes a synchronous detection shaft, an annular magnet, an output shaft magnetic support, and an integrated monitoring circuit. The synchronous detection shaft passes through the hollow channel between the primary sun gear mounting shaft and the secondary sun gear mounting shaft. One end of the synchronous detection shaft is fixedly connected to the output flange and rotates synchronously with the output flange. The other end extends to the rotor assembly side and is connected to the output shaft magnetic support.

[0010] The annular magnet is sleeved on the outside of the rotor support and rotates synchronously with the rotor assembly; the integrated monitoring circuit is fixed to the inside of the drive cover plate by bolts, and the drive cover plate covers the input end of the motor housing; the monitoring circuit integrates two Hall sensors, which are respectively set to correspond to the annular magnet and the output shaft magnetic support; the monitoring circuit is also provided with a data transmission port, which passes through the drive cover plate and extends to the outside.

[0011] Furthermore, the integrated monitoring circuit incorporates two Hall effect sensors to capture changes in the magnetic fields of the annular magnet and the output shaft magnetic support, respectively, converting these changes into pulsed electrical signals. The monitoring circuit also integrates a signal processing chip to count the pulsed electrical signals and calculate the rotational speed, with a speed detection error ≤ ±1 r / min. This detection structure can accurately acquire real-time motor input and module output speed data, providing a basis for transmission efficiency assessment and fault warning, meeting the accuracy requirements of high-end equipment.

[0012] Furthermore, the inner diameter of the hollow channel of the primary sun gear mounting shaft and the secondary sun gear mounting shaft is adapted to the outer diameter of the synchronous detection shaft, with a fitting clearance of ≥0.02mm between them. This adaptation structure and clearance design ensures smooth and unobstructed rotation of the synchronous detection shaft while reducing rotational offset, thus ensuring stable output speed detection data.

[0013] Furthermore, the first bearing is a deep groove ball bearing. The inner ring of the first bearing is connected to the rotor support, and the outer ring is connected to the inner wall of the motor end cover. The deep groove ball bearing can reduce the rotational friction of the rotor support, ensure the smooth operation of the rotor assembly, avoid bearing jamming that could cause abnormal rotational speed of the annular magnet, and ensure accurate detection of the motor input speed.

[0014] Furthermore, the drive cover plate is fixedly connected to the motor housing by bolts, and a sealing gasket is provided at the connection between the drive cover plate and the motor housing. The sealing gasket isolates external impurities and moisture, providing a stable working environment for the motor interior and monitoring circuitry.

[0015] Furthermore, it includes a first bearing, which is a deep groove ball bearing; the inner ring of the first bearing is connected to the rotor support, and the outer ring of the first bearing is connected to the inner wall of the motor end cover.

[0016] This setting reduces the rotational resistance of the rotor support, ensures stable rotation of the rotor assembly, and enables the annular magnet to rotate smoothly and synchronously, laying the foundation for accurate detection of the motor input speed.

[0017] Furthermore, the annular magnet is made of neodymium iron boron, with its inner diameter matching the outer diameter of the rotor support. It is then bonded to the outside of the rotor support using anaerobic adhesive. The strong magnetic properties of neodymium iron boron facilitate the Hall sensor's capture of magnetic field changes, while the anaerobic adhesive ensures a tight, synchronized fixation, preventing relative slippage that could affect the accuracy of motor input speed detection.

[0018] Beneficial effects:

[0019] I. Comprehensive monitoring coverage: Simultaneously detects input and output speeds, can calculate transmission efficiency and speed ratio in real time, and promptly identify abnormalities such as gear wear and bearing failure, thereby improving the equipment fault early warning capability.

[0020] 2. Compact Space: Utilizing the hollow primary and secondary sun gear mounting shafts with built-in synchronous detection shafts and integrated monitoring circuits, no external sensors are required. The overall module size is reduced by more than 25% compared to the "traditional module + external dual sensors", making it suitable for compact installation scenarios.

[0021] III. High Data Stability: The monitoring circuit is built-in and precisely aligned with the detection components to avoid electromagnetic interference. Data delay is ≤5ms, and detection accuracy is improved by 80%, meeting the dynamic response requirements of high-end equipment.

[0022] IV. Ease of assembly: All detection components are built-in and integrated, eliminating the need for additional adjustment of sensor coaxiality, improving assembly efficiency by 50% and reducing production and maintenance costs. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of a hollow planetary deceleration module with dual rotational speed detection function;

[0024] Figure 2 This is a structural diagram of the internal detection-related components;

[0025] Figure 3 This is a schematic diagram showing the connection between the synchronous detection shaft and the output flange;

[0026] Figure 4 This is a schematic diagram of the internal structure of the output flange;

[0027] Figure 5 This is a schematic diagram showing the connection between the annular magnet and the rotor support;

[0028] In the diagram: 1. Output flange, 2. Motor end cover, 3. Monitoring circuit, 4. Ring magnet, 5. Encoder magnetic disc, 6. Output shaft magnetic support, 7. Synchronous detection shaft, 8. Rotor support. Detailed Implementation

[0029] To enhance understanding of this utility model, the present utility model will be further described in detail below with reference to the embodiments and accompanying drawings. These embodiments are only used to explain the present utility model and do not constitute a limitation on the scope of protection of the present utility model.

[0030] Example 1: As Figure 1-5 As shown, the hollow planetary reducer module with dual speed detection function has a structure that includes a module body composed of a motor part and a reduction part that are embedded in each other, as well as a built-in dual speed detection component.

[0031] In the dual speed detection assembly, the synchronous detection shaft 7 passes through the hollow channel between the primary sun gear mounting shaft and the secondary sun gear mounting shaft. The inner diameter of the hollow channel between the primary sun gear mounting shaft and the secondary sun gear mounting shaft is adapted to the outer diameter of the synchronous detection shaft 7, and the fit clearance between them is ≥0.04mm. One end of the synchronous detection shaft 7 is fixedly connected to the output flange 1 and rotates synchronously with the output flange 1. The other end extends to the rotor assembly side and is connected to the output shaft magnetic support 6.

[0032] The annular magnet 4 is made of neodymium iron boron, and its inner diameter is adapted to the outer diameter of the rotor support 8. It is attached to the outside of the rotor support 8 with anaerobic adhesive and rotates synchronously with the rotor assembly. The integrated monitoring circuit 3 is fixed to the inside of the drive cover plate by bolts. The drive cover plate covers the input end of the motor housing, and the drive cover plate and the motor housing are fixedly connected by bolts. A sealing gasket is provided at the connection between the two. The integrated monitoring circuit 3 integrates two Hall sensors that are respectively set to correspond to the annular magnet 4 and the output shaft magnetic support 6. It also integrates a signal processing chip for counting the pulse electrical signals captured by the Hall sensors to change the magnetic field and calculating the rotation speed.

[0033] Meanwhile, the integrated monitoring circuit 3 is also equipped with a data transmission port, which passes through the drive cover and extends to the outside.

[0034] Testing process:

[0035] When the module is running, the rotor support 8 drives the annular magnet 4 to rotate, and the integrated monitoring circuit 3 captures the magnetic rotation pulses via a corresponding Hall sensor. The output flange 1 drives the synchronous detection shaft 7 and the output shaft magnetic support 6 to rotate, and another Hall sensor captures the magnetic rotation pulses. The chip calculates the rotational speed of both, and the data is transmitted externally via the monitoring circuit port.

[0036] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A hollow planetary deceleration module with dual rotational speed detection function, characterized in that, Includes the module body and the built-in dual speed detection component; The module body includes a motor part and a reduction part that are embedded in each other. The dual speed detection component includes a synchronous detection shaft, an annular magnet, an output shaft magnetic support, and an integrated monitoring circuit. The synchronous detection shaft passes through the hollow channel between the first-stage sun gear mounting shaft and the second-stage sun gear mounting shaft. One end of the synchronous detection shaft is fixedly connected to the output flange and rotates synchronously with the output flange. The other end extends to the rotor assembly side and is connected to the output shaft magnetic support. The annular magnet is sleeved on the outside of the rotor support and rotates synchronously with the rotor assembly; the integrated monitoring circuit is fixed to the inside of the drive cover plate by bolts, and the drive cover plate covers the input end of the motor housing. The monitoring circuit integrates two Hall sensors, which are respectively set to correspond to the annular magnet and the output shaft magnetic support. The monitoring circuit is also provided with a data transmission port, which passes through the drive cover plate and extends to the outside.

2. A hollow planetary deceleration module with dual rotational speed detection function according to claim 1, characterized in that, The integrated monitoring circuit has two Hall sensors, which are used to capture the magnetic field changes of the ring magnet and the output shaft magnetic support, respectively, and convert the magnetic field changes into pulse electrical signals. The monitoring circuit also integrates a signal processing chip, which is used to count the pulse electrical signals and calculate the rotational speed. The rotational speed detection error is ≤ ±1 r / min.

3. A hollow planetary deceleration module with dual rotational speed detection function according to claim 1, characterized in that, The inner diameter of the hollow channel of the primary sun gear mounting shaft and the secondary sun gear mounting shaft is adapted to the outer diameter of the synchronous detection shaft, and the fit clearance between the two is ≥0.02mm.

4. A hollow planetary deceleration module with dual rotational speed detection function according to claim 3, characterized in that, A sealing gasket is provided at the connection between the drive cover and the motor housing.

5. A hollow planetary deceleration module with dual rotational speed detection function according to claim 3, characterized in that, The first bearing is a deep groove ball bearing. The inner ring of the first bearing is connected to the rotor support, and the outer ring is connected to the inner wall of the motor end cover.

6. A hollow planetary deceleration module with dual rotational speed detection function according to claim 5, characterized in that, The drive cover plate is fixedly connected to the motor housing by bolts.

7. A hollow planetary deceleration module with dual rotational speed detection function according to claim 5, characterized in that, It includes a first bearing, which is a deep groove ball bearing; the inner ring of the first bearing is connected to the rotor support, and the outer ring of the first bearing is connected to the inner wall of the motor end cover.

8. A hollow planetary deceleration module with dual rotational speed detection function according to claim 5, characterized in that, The annular magnet is made of neodymium iron boron, and its inner diameter is matched with the outer diameter of the rotor support. It is attached to the outside of the rotor support with anaerobic adhesive.

Images