Dual encoder joint motor

Abstract

The utility model relates to motor technical field, specifically disclose a kind of double encoder joint motor, comprising: drive plate, round magnet, motor, hall encoder circuit board, magnetic ring, speed reducer and shell, drive plate, motor and hall encoder circuit board are fixed on shell, round magnet is provided on the motor, the input shaft of speed reducer is fixedly connected with motor, the output shaft of speed reducer is fixedly connected with magnetic ring, the hall encoder circuit board is fixedly connected with baffle ring, bearing is provided between the baffle ring and magnetic ring. The utility model has realized the effect that joint motor remembers mechanical zero point without relying on the mode of separately power supply for encoder, greatly reduces the risk that robot joint loses mechanical zero point.

Description

Technical Field

[0001] This utility model relates to the field of motor technology, and in particular to a dual encoder joint motor. Background Technology

[0002] With the continuous advancement of robotics technology, robotic arms and humanoid robots are widely used in intelligent manufacturing to fill the workforce gap. Robot joints are key components that connect and drive the movement of various parts, and the joint motors inside are the core of enabling flexible joint movement. For example, multi-joint robots, such as bionic robots, rely on the joint motors to drive the relative movement of the two sides of the joint, enabling them to perform various actions.

[0003] As the core driving component for robot operation, the performance of joint motors is crucial: their high-precision speed control and rapid response ensure motion accuracy, stable power output maintains operational stability, and durability determines the robot's service life; any performance deficiency may lead to operational errors, safety accidents, or increased costs, directly affecting the robot's productivity level.

[0004] Existing technology requires a separate power supply to the encoder to enable the joint motor to memorize the mechanical zero point, which increases the additional configuration requirements of the power supply system. Because it relies on a separate power supply to the encoder, when the power supply link fails (such as a power outage), the joint motor is prone to losing the mechanical zero point, posing a high risk of zero point loss. Utility Model Content

[0005] This invention aims to solve the aforementioned problems. To this end, this invention provides a dual-encoder joint motor that achieves the effect of the joint motor remembering the mechanical zero point without relying on a separate power supply to the encoder, greatly reducing the risk of the robot joint losing its mechanical zero point.

[0006] This utility model provides a dual encoder joint motor, the technical solution of which is as follows: it includes a drive board, a circular magnet, a motor, a Hall encoder circuit board, a magnetic ring, a reducer, and a housing. The drive board, the motor, and the Hall encoder circuit board are fixed on the housing. The motor is provided with a circular magnet. The input shaft of the reducer is fixedly connected to the motor, and the output shaft of the reducer is fixedly connected to the magnetic ring. The Hall encoder circuit board is fixedly connected to a retaining ring, and a bearing is provided between the retaining ring and the magnetic ring.

[0007] Furthermore, the circular magnet is fixed on the rotor of the motor, the central axis of the circular magnet coincides with the axis of the rotor and is directly opposite the center point of the magnetic encoder on the drive board, and the circular magnet is radially magnetized.

[0008] Furthermore, the Hall sensor on the Hall encoder circuit board is positioned directly opposite the magnetic ring, which is radially magnetized.

[0009] Furthermore, the outer ring wall of the bearing is interference-fitted with the inner ring of the magnetic ring, and the retaining ring is interference-fitted with the inner ring wall of the bearing.

[0010] Furthermore, the magnetic ring is fixedly connected to the output shaft of the reducer via a magnetic suction plate.

[0011] Furthermore, the magnetic ring is magnetically attracted and fixedly connected to the magnetic suction plate, and the magnetic suction plate is fixedly connected to the output shaft of the reducer.

[0012] Furthermore, the stator of the motor is fixed to the housing.

[0013] Furthermore, the Hall encoder circuit board is connected to the driver board via wires.

[0014] Furthermore, the rear cover is fixedly connected to the housing, and the drive plate is located within the cavity formed by the rear cover and the housing.

[0015] Furthermore, the housing includes an upper housing and a lower housing, and the retaining ring, bearing, and magnetic ring are all located within the cavity formed by the upper housing and the lower housing.

[0016] The above-described one or more technical solutions in the embodiments of this utility model have at least one of the following technical effects: 1. This invention employs a dual encoder: a magnetic encoder and a Hall sensor. The magnetic encoder detects the motor's rotation angle for servo control. The Hall sensor detects the angle at the reducer's output end, checking the joint motor's output angle position at the start of each power-on to prevent loss of its mechanical zero point. This invention achieves the effect of the joint motor remembering its mechanical zero point without relying on a separate power supply to the encoder, greatly reducing the risk of the robot joint losing its mechanical zero point.

[0017] 2. This utility model features a radially magnetized circular magnet on the motor rotor, with its axis coinciding with the rotor and aligned with the center of the drive board. This allows the magnetic encoder to accurately acquire rotor magnetic signals, reducing detection errors and laying the foundation for precise control of motor speed and position. Simultaneously, the Hall encoder circuit board is fixed to the retaining ring, and the retaining ring is limited by bearings and magnetic rings, ensuring the relative position of the Hall encoder and magnetic rings remains stable, further improving position detection accuracy.

[0018] 3. This utility model adopts a retaining ring, bearing, and magnetic ring sleeve method to achieve an integrated design, which greatly reduces the axial space and adapts to the miniaturization requirements of joint motors; the magnetic plate fixes the magnetic ring by magnetic attraction, which is convenient to install and can ensure coaxiality; the bearing between the retaining ring and the magnetic ring can reduce the rotational friction of the magnetic ring, reduce wear and extend life, while the interference fit limit can prevent the components from loosening and ensure stable operation.

[0019] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a structural schematic diagram provided by this utility model.

[0022] Figure 2 This is a schematic diagram of the Hall encoder provided by this utility model.

[0023] Figure label: 1. Back cover; 2. Drive board; 3. Circular magnet; 4. Motor; 5. Hall encoder circuit board; 6. Magnetic ring; 7. Reducer; 8. Housing; 9. Magnetic suction plate; 10. Bearing; 11. Retaining ring. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model. The following embodiments are used to illustrate this utility model but should not be used to limit its scope.

[0025] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0026] The following is combined Figure 1 and Figure 2 The present invention will be further described in detail below, specifically a dual-encoder joint motor: In this embodiment, as Figure 1 and Figure 2 As shown, a dual encoder joint motor is provided, including: a drive board 2, a circular magnet 3, a motor 4, a Hall encoder circuit board 5, a magnetic ring 6, a reducer 7, and a housing 8.

[0027] A drive board 2, a motor 4, and a Hall encoder circuit board 5 are fixed to the housing 8. The stator of the motor 4 is fixed to the housing 8, and the drive board 2 is fixed to the housing 8 with screws. A circular magnet 3 is provided on the motor 4. The circular magnet 3 is radially magnetized, that is, the north and south poles are located on two opposite semicircles. The circular magnet 3 is fixed to the rotor of the motor 4, and the central axis of the circular magnet 3 coincides with the axis of the rotor and is directly opposite the center point of the magnetic encoder on the drive board 2. The drive board 2 is equipped with a motor drive circuit and a magnetic encoder, and the magnetic encoder is located at the center of the drive board 2. The rear cover 1 is fixedly connected to the housing 8 with screws, and the drive board 2 is located in the cavity formed by the rear cover 1 and the housing 8.

[0028] The input shaft of the reducer 7 is fixedly connected to the rotor of the motor 4, and the output shaft of the reducer 7 is fixedly connected to the magnetic ring 6 via a magnetic plate 9. The magnetic plate 9 itself is non-magnetic but can be attracted by a magnet. The magnetic ring 6 is magnetically attracted and fixedly connected to the magnetic plate 9, and the magnetic plate 9 is fixedly connected to the output shaft of the reducer 7. Both the middle of the magnetic plate 9 and the middle of the Hall encoder circuit board 5 have through holes of the same size. The reducer 7 passes through both through holes.

[0029] The Hall encoder circuit board 5 is fixedly connected to the upper end of the retaining ring 11, and a bearing 10 is provided between the retaining ring 11 and the magnetic ring 6. The outer ring wall of the bearing 10 is interference-fitted with the inner ring of the magnetic ring 6, and the retaining ring 11 is interference-fitted with the inner ring wall of the bearing 10, which serves as a limiting function.

[0030] The magnetic ring 6 is radially magnetized, meaning its north and south poles are located on two opposing semicircles. The Hall encoder circuit board 5 has two Hall sensors arranged at 90° angles around the circumference and facing the end faces of the magnetic ring 6. The Hall encoder circuit board 5 is connected to the drive board 2 via wires.

[0031] The housing 8 includes an upper housing and a lower housing, which are fixedly connected. The retaining ring 11, bearing 10, magnetic ring 6, and magnetic suction plate 9 are all located within the cavity formed by the upper housing and the lower housing.

[0032] The magnetic encoder on drive board 2 detects the rotation angle of motor 4 for servo control of motor 4. The Hall sensor on Hall encoder circuit board 5 detects the output angle of reducer 7, checking the output angle position of the joint motor at the beginning of each power-on to prevent loss of its mechanical zero point. This invention achieves the effect of the joint motor remembering its mechanical zero point without relying on a separate power supply to the encoder, greatly reducing the risk of the robot joint losing its mechanical zero point.

[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A dual-encoder joint motor, characterized in that, include: The system comprises a drive board, a circular magnet, a motor, a Hall encoder circuit board, a magnetic ring, a reducer, and a housing. The drive board, motor, and Hall encoder circuit board are fixed on the housing. A circular magnet is installed on the motor. The input shaft of the reducer is fixedly connected to the motor, and the output shaft of the reducer is fixedly connected to the magnetic ring. The Hall encoder circuit board is fixedly connected to a retaining ring, and a bearing is provided between the retaining ring and the magnetic ring.

2. The dual encoder joint motor as described in claim 1, characterized in that, The circular magnet is fixed on the rotor of the motor. The central axis of the circular magnet coincides with the axis of the rotor and is directly opposite the center point of the magnetic encoder on the drive board. The circular magnet is radially magnetized.

3. A dual-encoder joint motor as described in claim 1, characterized in that, The Hall sensor on the Hall encoder circuit board is positioned opposite the magnetic ring, which is radially magnetized.

4. A dual-encoder joint motor as described in claim 1, characterized in that, The outer ring wall of the bearing is interference-fitted with the inner ring of the magnetic ring, and the retaining ring is interference-fitted with the inner ring wall of the bearing.

5. A dual-encoder joint motor as described in claim 1, characterized in that, The magnetic ring is fixedly connected to the output shaft of the reducer via a magnetic suction plate.

6. A dual-encoder joint motor as described in claim 5, characterized in that, The magnetic ring is magnetically attracted and fixedly connected to the magnetic suction plate, and the magnetic suction plate is fixedly connected to the output shaft of the reducer.

7. A dual-encoder joint motor as described in claim 1, characterized in that, The stator of the motor is fixed to the housing.

8. A dual-encoder joint motor as described in claim 1, characterized in that, The Hall encoder circuit board is connected to the driver board via wires.

9. A dual-encoder joint motor as described in claim 1, characterized in that, The rear cover is fixedly connected to the housing, and the drive plate is located in the cavity formed by the rear cover and the housing.

10. A dual-encoder joint motor as described in claim 1, characterized in that, The housing includes an upper housing and a lower housing, and the retaining ring, bearing, and magnetic ring are all located within the cavity formed by the upper housing and the lower housing.

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