A dual encoder hollow harmonic reducer joint module integrated with double-sided inductive coils

Abstract

The utility model discloses a kind of double-encoder hollow harmonic reducer joint module of integrated double-sided inductive coil, including shell, frameless torque motor is provided in shell, harmonic reducer and brake are provided on frameless torque motor;The inside of the shell is provided with inductive encoder assembly and controller;The inductive encoder assembly includes motor input end target plate being arranged on frameless torque motor and reduction output end target plate being arranged on harmonic reducer, motor input end target plate and reduction output end target plate between are provided with eddy current coil detection circuit.The utility model is integrated on single circuit board by adopting innovative double-sided arrangement eddy current inductive coil encoder, two sets of independent encoder functions of motor input end and reduction output end are replaced traditional discrete magnetism or optical encoder, and the axial dimension and structural complexity of module are reduced.

Description

Technical Field

[0001] This utility model relates to the field of harmonic reducer technology, and more specifically to a dual-encoder hollow harmonic reducer joint module with integrated double-sided inductive coils. Background Technology

[0002] With the rapid development of robotics, high-end equipment, and automation, harmonic reducer joint modules face increasingly stringent requirements regarding performance, size, and cost. Currently, to facilitate wiring, harmonic reducer joint modules generally adopt a hollow structure and are equipped with independently mounted optical or magnetoelectric encoders. This results in problems such as large structural size, complex installation process, and high cost. Especially in applications where space and cost are extremely sensitive, traditional encoder solutions severely restrict the compactness and cost reduction of harmonic reducer joint modules. Therefore, there is an urgent need for a highly integrated, compact, and cost-effective encoder placement solution to comprehensively enhance the overall competitiveness of harmonic reducer joint modules. Summary of the Invention

[0003] The technical problem to be solved by this utility model is to provide a dual encoder hollow harmonic reducer joint module with integrated double-sided inductive coils. It adopts a low-cost eddy current inductive coil encoder with double-sided circuit board layout, which effectively reduces the axial dimension of the motor and reduces the system cost.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows.

[0005] A dual-encoder hollow harmonic reducer joint module integrating double-sided inductive coils includes a housing, within which a frameless torque motor is disposed, and a harmonic reducer and a brake are disposed on the frameless torque motor. Inside the housing are an inductive encoder assembly for detecting the rotor position and speed of the frameless torque motor and the harmonic reducer, and a controller for controlling the operation of the frameless torque motor and the brake based on the signals detected by the inductive encoder assembly. The inductive encoder assembly includes a motor input target plate disposed on the frameless torque motor and a reduction output target plate disposed on the harmonic reducer. An eddy current coil detection circuit for calculating the rotation angle based on the rotational positions of the motor input target plate and the reduction output target plate is disposed between the motor input target plate and the reduction output target plate. The output of the eddy current coil detection circuit is connected to the input of the controller.

[0006] The technical solution is further optimized. The harmonic reducer includes a motor input shaft and a reduction output shaft. The target plate at the motor input end is set on the motor input shaft, and the target plate at the reduction output end is set on the reduction output shaft.

[0007] To further optimize the technical solution, the frameless torque motor includes a rotor and a stator connected to the motor input shaft. Several pairs of magnets are evenly arranged on the outer periphery of the rotor. An annular circuit board is provided on the stator. A magnetic encoder detection chip is provided near the magnets on the inner edge of the annular circuit board to detect changes in the magnetic field of the magnets and calculate the rotation angle of the motor. The output end of the magnetic encoder detection chip is connected to the input end of the controller.

[0008] To further optimize the technical solution, the brake includes a brake coil body sleeved on the motor input shaft and a target plate disposed between the brake coil body and the motor input shaft for braking. The input end of the brake coil body is connected to the output end of the controller.

[0009] The technical solution is further optimized in that the motor input end target plate is mounted on the motor input shaft via a motor input end target plate carrier, and the deceleration output end target plate is mounted on the deceleration output shaft via a deceleration output end target plate carrier.

[0010] To further optimize the technical solution, the back of the eddy current coil detection circuit is provided with a motor output terminal transmitting coil and a receiving coil facing the motor input terminal target plate, and the front of the eddy current coil detection circuit is provided with a deceleration output terminal transmitting coil and a receiving coil facing the deceleration output terminal target plate. The transmitting coil is connected to a high-frequency alternating current to generate a high-frequency alternating magnetic field, and the receiving coil is used to sense changes in the magnetic field.

[0011] To further optimize the technical solution, the controller is equipped with two inductive encoder chips that are respectively connected to the transmitting coil and the receiving coil on both sides of the eddy current coil detection circuit.

[0012] Due to the adoption of the above technical solutions, the technical progress achieved by this utility model is as follows.

[0013] This utility model provides a dual-encoder hollow harmonic reducer joint module with integrated double-sided inductive coils. By adopting an innovative double-sided eddy current inductive coil encoder, the functions of two independent encoders at the motor input end and the reduction output end are integrated on a single circuit board, replacing the traditional discrete magnetic or optical encoders, and reducing the axial size and structural complexity of the module.

[0014] This invention utilizes the principle of eddy current induction to achieve non-contact angle measurement. It is insensitive to magnetic field interference, has strong anti-interference capabilities, and provides a stable output signal, significantly improving its reliability in complex electromagnetic environments. Furthermore, the inductive encoder eliminates the need for additional optical or magnetic components, effectively reducing system costs.

[0015] The integrated design further optimizes the internal wiring, supports closed-loop control and real-time data feedback of the harmonic reducer joint module controller, and provides robots and high-precision equipment with a more compact, economical and high-performance key execution unit. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram of the exploded structure of this utility model.

[0017] The components include: 1. Harmonic reducer, 11. Motor input shaft, 12. Reducer output shaft, 2. Frameless torque motor, 21. Rotor, 211. Magnet, 22. Stator, 221. Ring circuit board, 3. Brake, 31. Brake coil body, 32. Target plate, 4. Housing, 41. End cover, 5. Inductive encoder assembly, 51. Motor input target plate, 511. Motor input target plate carrier, 52. Eddy current coil detection circuit, 53. Reducer output target plate, 531. Reducer output target plate carrier, 6. Controller, 61. Inductive encoder chip. Detailed Implementation

[0018] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0019] A dual-encoder hollow harmonic reducer joint module integrating double-sided inductive coils, combined with Figures 1 to 2 As shown, it includes a housing 4, an end cover 41 on the housing 4, and a harmonic reducer 1, a frameless torque motor 2, a brake 3, an inductive encoder assembly 5 and a controller 6 inside the housing 4.

[0020] The harmonic reducer 1 includes a motor input shaft 11 and a reduction output shaft 12. The motor input shaft 11 is connected to the frameless torque motor 2, and high reduction ratio motion transmission is achieved through the motor input shaft and the reduction output shaft.

[0021] The frameless torque motor 2 includes a rotor 21 and a stator 22. The rotor 21 is connected to the motor input shaft 11. Several pairs of magnets 211 are evenly arranged on the outer periphery of the rotor 21. An annular circuit board 221 is arranged on the stator 22. A magnetic encoder detection chip is arranged on the inner edge of the annular circuit board 221. The magnetic encoder detection chip can directly output SPI, ABZ or other digital output protocols. The magnetic encoder detection chip is close to the magnets. When the rotor 21 rotates, the magnetic encoder detection chip can detect the change in the magnetic field of the magnets and calculate the rotation angle of the motor. The output terminal of the magnetic encoder detection chip is connected to the input terminal of the controller 6.

[0022] The brake 3 includes a brake coil body 31 and a target plate 32. The brake coil body 31 is sleeved on the motor input shaft 11, and the target plate 32 is disposed between the brake coil body 31 and the motor input shaft to achieve braking. The input end of the brake coil body is connected to the output end of the controller 6. When the brake is working, when the brake coil body is powered on, the brake coil generates a magnetic field, attracting the target plate. The target plate separates from the motor input shaft, allowing the motor input shaft to rotate freely. When the brake coil body is de-energized, the magnetic field of the brake coil disappears, releasing the target plate. The target plate then presses against the motor input shaft, achieving rapid braking through frictional torque.

[0023] The inductive encoder assembly 5 is used to detect the rotor position and speed of the frameless torque motor 2 and the harmonic reducer 1. The inductive encoder assembly 5 includes a motor input target plate 51, an eddy current coil detection circuit 52, and a reduction output target plate 53. The motor input target plate 51 is mounted on the motor input shaft 11, and the reduction output target plate 53 is mounted on the reduction output shaft 12. The eddy current coil detection circuit 52 is located between the motor input target plate 51 and the reduction output target plate 53 and is used to calculate the rotation angle based on the rotation position of the motor input target plate 51 and the reduction output target plate 53. The output of the eddy current coil detection circuit 52 is connected to the input of the controller 6.

[0024] The motor input end target plate 51 is mounted on the motor input shaft 11 via the motor input end target plate carrier 511, and the deceleration output end target plate 53 is mounted on the deceleration output shaft 12 via the deceleration output end target plate carrier 531.

[0025] The eddy current coil detection circuit 52 is mounted on the housing 4. The back of the eddy current coil detection circuit 52 has a transmitting coil and a receiving coil facing the motor input target plate 51, while the front of the eddy current coil detection circuit 52 has a transmitting coil and a receiving coil facing the deceleration output target plate 53. Based on the core electromagnetic induction principle of eddy currents, the rotation angle is accurately calculated by measuring the change in the electromagnetic field of the eddy current coil detection circuit 52 caused by the rotational displacement of the tested object (motor input target plate 51, deceleration output target plate 53). The transmitting and receiving coils of the eddy current coil detection circuit 52 are arranged on the PCB. The transmitting coil is connected to a high-frequency alternating current to generate a high-frequency alternating magnetic field, and the receiving coil is used to sense changes in the magnetic field.

[0026] The controller 6 is equipped with two inductive encoder chips 61, which are connected to the transmitting and receiving coils on both sides of the eddy current coil detection circuit 52, respectively. Due to the sufficiently large coil area, it achieves more accurate detection and faster response. Furthermore, the controller 6 receives control commands through an integrated internal communication module. Based on the real-time acquired angle signals from the motor input and deceleration output ends of the inductive encoder assembly 5, it calculates and determines the actual angle, the required angle, and the motor rotation speed to achieve closed-loop control of the frameless torque motor 2 and the opening and closing of the brake 3. Simultaneously, it transmits the operating status of the harmonic reducer joint module through the communication module.

Claims

1. A dual encoder, hollow harmonic reducer, joint module with integrated dual-sided inductive coils, characterized by: The device includes a housing (4), inside which is installed a frameless torque motor (2), and on which are installed a harmonic reducer (1) and a brake (3); inside the housing (4) are installed an inductive encoder assembly (5) for detecting the rotor position and speed of the frameless torque motor (2) and the harmonic reducer (1) and a controller (6) for controlling the operation of the frameless torque motor (2) and the brake (3) based on the signal detected by the inductive encoder assembly (5); the inductive encoder assembly (5) includes a motor input end target plate (51) installed on the frameless torque motor (2) and a reduction output end target plate (53) installed on the harmonic reducer (1), and between the motor input end target plate (51) and the reduction output end target plate (53) is an eddy current coil detection circuit (52) for calculating the rotation angle based on the rotation position of the motor input end target plate (51) and the reduction output end target plate (53), and the output end of the eddy current coil detection circuit is connected to the input end of the controller.

2. A dual encoder, hollow harmonic reducer, articulating module with integrated dual-sided inductive coils as claimed in claim 1, characterized in that: The harmonic reducer (1) includes a motor input shaft (11) and a reduction output shaft (12). The motor input end target plate (51) is set on the motor input shaft (11), and the reduction output end target plate (53) is set on the reduction output shaft (12).

3. A dual encoder, hollow harmonic reducer, articulating module with integrated dual-sided inductive coils as claimed in claim 2, wherein: The frameless torque motor (2) includes a rotor (21) and a stator (22) connected to the motor input shaft (11). Several pairs of magnets (211) are evenly arranged on the outer periphery of the rotor (21). An annular circuit board (221) is provided on the stator (22). A magnetic encoder detection chip is provided near the magnets (211) on the inner edge of the annular circuit board (221) for detecting changes in the magnetic field of the magnets and calculating the rotation angle of the motor. The output end of the magnetic encoder detection chip is connected to the input end of the controller (6).

4. The dual-encoder hollow harmonic reducer joint module with integrated double-sided inductive coils according to claim 2, characterized in that: The brake (3) includes a brake coil body (31) sleeved on the motor input shaft (11) and a target plate (32) disposed between the brake coil body and the motor input shaft for braking. The input end of the brake coil body is connected to the output end of the controller (6).

5. The dual encoder, hollow harmonic reducer, articulating module of claim 2, wherein: The motor input end target plate (51) is mounted on the motor input shaft (11) via the motor input end target plate carrier (511), and the deceleration output end target plate (53) is mounted on the deceleration output shaft (12) via the deceleration output end target plate carrier (531).

6. A dual encoder, hollow harmonic reducer, articulating module with integrated dual-sided inductive coils as claimed in claim 1, wherein: The back of the eddy current coil detection circuit (52) is provided with a motor output terminal transmitting coil and a receiving coil facing the motor input terminal target plate (51). The front of the eddy current coil detection circuit (52) is provided with a deceleration output terminal transmitting coil and a receiving coil facing the deceleration output terminal target plate (53). The transmitting coil is connected to a high-frequency alternating current to generate a high-frequency alternating magnetic field, and the receiving coil is used to sense changes in the magnetic field.

7. A dual encoder, hollow harmonic reducer, articulating module with integrated dual-sided inductive coils as claimed in claim 6, wherein: The controller (6) is equipped with two inductive encoder chips (61) that are respectively connected to the transmitting coil and receiving coil on both sides of the eddy current coil detection circuit (52).

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