Angle detection device and joint reduction motor

Abstract

The present application relates to joint reduction motor technical field, specifically to a kind of angle detection device and joint reduction motor.A kind of angle detection device, comprising: high-speed end encoder component, including the metal spoke for forming high-speed shaft, and first coil unit is arranged on motor control and signal processing board and is cooperated with metal spoke to obtain the rotation angle of high-speed shaft;Low-speed end encoder component, including the code track being arranged on low-speed shaft, and second coil unit is arranged on motor control and signal processing board and is cooperated with code track to obtain the rotation angle of low-speed shaft.Angle detection device can be directly detected by low-speed end encoder component and obtain the mechanical rotation angle of low-speed shaft, so that the accuracy of the mechanical rotation angle of low-speed shaft obtained is higher;And the rotation part of high-speed end encoder component is formed by the high-speed shaft of joint reduction motor itself, so that the volume of joint reduction motor is small.

Description

Technical Field

[0001] This utility model relates to the field of joint geared motor technology, specifically to an angle detection device and a joint geared motor. Background Technology

[0002] Articulated geared motors reduce speed and increase torque by adding a reducer. The shaft at the motor's original speed without amplified torque is called the high-speed shaft; the shaft whose speed is reduced and torque increased by the reducer is called the low-speed shaft. Currently, there are two main methods for angle detection of the high-speed and low-speed shafts of articulated geared motors: The first approach involves installing an encoder on the high-speed shaft to obtain its rotation angle. The rotation angle of the low-speed shaft is then calculated using the reduction ratio of the reducer. However, this approach is susceptible to the influence of the reducer's accuracy. Whether it's a planetary reducer, a harmonic reducer, or a series gear reducer, aside from the inherent transmission errors, all reducers have some degree of backlash. This backlash causes a discrepancy between the calculated and actual angles of the low-speed shaft (this error increases over time), resulting in low accuracy of the obtained low-speed shaft angle.

[0003] The second approach involves installing an encoder on both the high-speed and low-speed shafts. The high-speed shaft's rotation angle is obtained through the encoder on the high-speed shaft, and the low-speed shaft's rotation angle is obtained through the encoder on the low-speed shaft. This approach requires two encoders, which occupy significant axial and radial space, resulting in a larger and more complex articulated geared motor. Utility Model Content

[0004] The purpose of this invention is to provide an angle detection device and a joint geared motor, which can more accurately detect the rotation angle of the low-speed shaft, while ensuring that the joint geared motor has a small size.

[0005] In a first aspect, embodiments of the present invention provide an angle detection device, comprising: The high-speed encoder assembly includes metal spokes for forming a high-speed shaft, and a first coil unit disposed on a motor control and signal processing board and configured to cooperate with the metal spokes to obtain the rotation angle of the high-speed shaft. The low-speed encoder assembly includes a code track disposed on the low-speed shaft and a second coil unit disposed on the motor control and signal processing board and configured in conjunction with the code track to obtain the rotation angle of the low-speed shaft.

[0006] Preferably, the number of metal spokes is the same as the number of pole pairs of the motor, and the metal spokes are evenly distributed around the central axis of the high-speed shaft.

[0007] Preferably, the first coil unit includes a first excitation coil and a first receiving coil.

[0008] Preferably, the code track includes a semi-circular PCB board and copper foil etched on the PCB board.

[0009] Preferably, the second coil unit includes a second excitation coil and a second receiving coil.

[0010] In a second aspect, embodiments of the present invention provide a joint-type geared motor, including the angle detection device of the first aspect, and further including a motor body; the motor body includes a high-speed shaft; the high-speed shaft includes: The support plate includes an inner ring, an outer ring, and metal spokes connecting the inner and outer rings.

[0011] Preferably, the motor body also includes: The motor housing has a high-speed shaft housed within its cavity. The motor housing cover is detachably connected to the motor housing. The motor control and signal processing board is located in the cover cavity of the motor housing cover. After the motor housing cover is connected to the motor housing, the support plate of the high-speed shaft is set parallel to the motor control and signal processing board and at a certain distance.

[0012] Preferably, the motor body also includes: The low-speed shaft is located inside the housing cavity of the motor. The reducer module is housed in the cavity of the motor housing and is fixedly connected to the motor housing; the high-speed shaft is connected to the power shaft of the reducer module; and the low-speed shaft is connected to the output shaft of the reducer module.

[0013] Preferably, the motor body also includes: The coil winding is set in the cavity of the motor housing and is connected and fixed to the reducer module; The magnetic block is mounted on the high-speed shaft.

[0014] In summary, this utility model has the following beneficial effects: The angle detection device includes both a high-speed encoder assembly and a low-speed encoder assembly. The low-speed encoder assembly can directly detect the mechanical rotation angle of the low-speed shaft, rather than calculating it from the mechanical rotation angle of the high-speed shaft and the reduction ratio. Therefore, the accuracy of the obtained mechanical rotation angle of the low-speed shaft is higher. Furthermore, the rotating part of the high-speed encoder assembly is formed by the high-speed shaft of the joint geared motor itself. By directly using the metal spokes of the high-speed shaft as the rotating part of the high-speed encoder, not only is the installation space and cost of the traditional independent encoder eliminated and the axial dimension is reduced, but the vibration sensitivity problem caused by mechanical connection under high-speed conditions can also be solved.

[0015] Further or more detailed beneficial effects will be described in conjunction with specific embodiments in the detailed implementation. Attached Figure Description

[0016] Figure 1 A schematic diagram of a joint reduction motor integrating an angle detection device according to an embodiment of the present invention is shown; Figure 2 An exploded view of a joint reduction motor with an integrated angle detection device according to an embodiment of the present invention is shown. Figure 3 It shows Figure 1 A schematic diagram of a medium-speed joint geared motor with the motor housing and cover removed; Figure 4 It shows Figure 3 A schematic diagram of a mid-joint geared motor without the motor control and signal processing board; Figure 5 It shows Figure 4 A schematic diagram of the removal of the magnetic block by the intermediate joint geared motor; Figure 6 It shows Figure 5 A schematic diagram of a medium-speed joint geared motor without the high-speed shaft; Figure 7 It shows Figure 6 A schematic diagram of a mid-joint geared motor with the coil windings removed; Figure 8 A cross-sectional view of a joint reduction motor integrating an angle detection device according to an embodiment of the present invention is shown. Detailed Implementation

[0017] Embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0018] In the description of embodiments of this utility model, the term "comprising" and similar terms should be understood as open-ended inclusion, i.e., "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0019] This utility model embodiment provides an angle detection device, such as Figure 1 and Figure 2As shown, the angle detection device includes a high-speed encoder assembly and a low-speed encoder assembly.

[0020] like Figure 2 and Figure 3 As shown, the high-speed encoder assembly includes metal spokes 110 for forming a high-speed shaft 100, and a first coil unit disposed on the motor control and signal processing board 300 and configured to cooperate with the metal spokes 110 to obtain the rotation angle of the high-speed shaft 100.

[0021] For the high-speed encoder assembly, in this embodiment, the number of metal spokes 110 is the same as the number of pole pairs of the motor, and the metal spokes 110 are evenly distributed around the central axis of the high-speed shaft 100. The first coil unit includes a first excitation coil and a first receiving coil, both of which are etched onto the motor control and signal processing board 300. This high-speed encoder assembly forms an inductive incremental encoder based on the principle of electromagnetic induction.

[0022] The first excitation coil generates a periodically varying uniform magnetic field within its coil range, assuming the magnetic field S = A * sin(ωt). Without the metal spokes 110, the magnetic field received by the first receiving coil would always be S1 = A * sin(ωt). This embodiment can use two first receiving coils with a 90° phase difference. When the high-speed shaft 100 rotates, the metal spokes 110 cause a change in the magnetic field. When the high-speed shaft 100 rotates to a certain angle, the magnetic field received by the first receiving coil is S1 = A⋅sin(θ) * sin(ωt); the magnetic field received by the second receiving coil (with a 90° phase difference) is S2 = A⋅cos(θ) * sin(ωt). This can be understood as follows: the motor control and signal processing board 300 can directly obtain the specific value of sin(θ) through the first receiving coil and the specific value of cos(θ) through the second receiving coil. Then, the electrical angle θ of the high-speed shaft 100 can be directly calculated using the formula θ=arctan(sinθ / cosθ). When adjusting the high-speed shaft 100, only the electrical angle of the high-speed shaft 100 needs to be known.

[0023] like Figure 2 , Figure 6 and Figure 7 As shown, the low-speed encoder assembly includes a code track 500 disposed on the low-speed shaft 400, and a second coil unit disposed on the motor control and signal processing board 300 and configured in conjunction with the code track 500 to obtain the rotation angle of the low-speed shaft 400.

[0024] For the low-speed encoder assembly, in this embodiment, the code track 500 includes a semi-circular PCB board and copper foil etched onto the PCB board. The second coil unit includes a second excitation coil and a second receiving coil, both of which are etched onto the motor control and signal processing board 300. This low-speed encoder assembly forms an inductive absolute encoder based on the principle of electromagnetic induction.

[0025] The second excitation coil generates a periodically varying uniform magnetic field within its coil range, assuming the magnetic field S = A * sin(ωt). Without code track 500, the magnetic field received by the second receiving coil is always S1 = A * sin(ωt). This embodiment can use two second receiving coils with a 90° phase difference. When the low-speed shaft 400 rotates, code track 500 causes a change in the magnetic field. When the low-speed shaft 400 rotates to a certain angle, the magnetic field received by the first second receiving coil is S1 = A⋅sin(θ) * sin(ωt); the magnetic field received by the second second receiving coil (with a 90° phase difference) is S2 = A⋅cos(θ) * sin(ωt). This can be understood as follows: the motor control and signal processing board 300 can directly obtain the specific value of sin(θ) through the first second receiving coil, and the specific value of cos(θ) through the second second receiving coil. Then, the electrical angle θ of the low-speed shaft 400 can be directly calculated using the formula θ=arctan(sinθ / cosθ). Since the low-speed encoder assembly is an inductive absolute encoder, the mechanical angle of the low-speed shaft 400 is related to its electrical angle. When the electrical angle of the low-speed shaft 400 is known, the mechanical angle of the low-speed shaft 400 is also determined.

[0026] In this embodiment, the angle detection device includes both a high-speed encoder assembly and a low-speed encoder assembly. The low-speed encoder assembly directly detects the mechanical rotation angle of the low-speed shaft 400 (instead of calculating it from the mechanical rotation angle of the high-speed shaft 100 and the reduction ratio), thus resulting in higher accuracy of the obtained mechanical rotation angle of the low-speed shaft 400. Furthermore, the fixed component of the high-speed encoder assembly is a coil etched onto the motor control and signal processing board 300, while the rotating component is formed from the high-speed shaft 100 of the articulated geared motor itself. Directly using the metal spokes 110 of the high-speed shaft 100 as the rotating component of the high-speed encoder not only saves the installation space and cost of traditional independent encoders and reduces the axial dimension, but also solves the vibration sensitivity problem caused by mechanical connections under high-speed operating conditions. The fixed component of the low-speed encoder assembly is a coil etched onto the motor control and signal processing board 300, and the rotating component consists of only a metal half-ring. This structure of the low-speed encoder assembly can greatly reduce the axial or radial dimension occupied by the articulated geared motor.

[0027] In this embodiment, the number of metal spokes 110 is the same as the number of pole pairs of the motor, and it also has a further function.

[0028] Assume the number of metal spokes 110 is M. Also assume the reduction ratio of the joint geared motor is N:1. Divide 360° into M*N sectors, where the value of each sector is equal to 360° divided by M and then divided by N. For example, if the number of metal spokes 110 is 10 (i.e., M is 10) and the reduction ratio is 10 (i.e., N is 10), then the value of each sector is 3.6°. In this embodiment, when obtaining the mechanical angle of the low-speed shaft 400 through the low-speed end encoder assembly, the mechanical angle of the low-speed shaft 400 can be divided by the value of the sector. For example, if the mechanical angle of the low-speed shaft 400 is 96°, then dividing the mechanical angle of the low-speed shaft 400 by 3.6° yields 26.7°. In this embodiment, the value of 26*3.6° (i.e., 93.6°) is used as the first rotation angle of the low-speed shaft 400. Assuming the current electrical angle of the high-speed shaft 400 obtained by the high-speed encoder assembly is 250°, the value obtained by dividing the current electrical angle of the high-speed shaft 400 (250°) by M (10) and then by N (10) (2.5°) is used as the second rotation angle of the low-speed shaft 400. Finally, the first rotation angle of the low-speed shaft 400 (93.6°) and the second rotation angle of the low-speed shaft 400 (2.5°) are summed to obtain the calculated mechanical angle of the low-speed shaft 400 (96.1°). When the calculation accuracy of the mechanical angle of the low-speed shaft 400 at the low-speed end is required to be high, the mechanical angle of the low-speed shaft 400 can be recalculated in this way. When the number of metal spokes 110 is the same as the number of pole pairs of the motor, the mechanical angle of the low-speed shaft 400 calculated by this method is more accurate than the mechanical angle of the low-speed shaft 400 directly obtained by the low-speed encoder assembly.

[0029] This utility model embodiment provides a joint reduction motor, which includes the angle detection device in the first embodiment and the motor body.

[0030] like Figure 4 and Figure 5 As shown, the motor body of this embodiment includes a high-speed shaft 100, which includes a circular support plate. The support plate includes an inner ring, an outer ring, and metal spokes 110 connecting the inner and outer rings. Multiple metal spokes 110 are provided, and these multiple metal spokes 110 are evenly distributed around the central axis of the support plate. This structure allows the high-speed shaft 100 to directly use the support plate as a rotating component of the high-speed encoder assembly.

[0031] like Figure 3 and Figure 8 As shown, the motor body in this embodiment also includes a motor housing 610, a motor housing cover 620, and a motor control and signal processing board 300. The high-speed shaft 100 is disposed in the cavity of the motor housing 610.

[0032] The motor housing cover 620 is detachably connected to the motor housing 610. The motor housing cover 620 can be connected to the motor housing 610 by fastening screws, glue, clips, or pressure rings.

[0033] The motor control and signal processing board 300 is housed within the cover cavity of the motor housing cover 620. The motor control and signal processing board 300 can be connected to the motor housing cover 620 via fastening screws, adhesive, clips, or pressure rings. The motor housing cover 620 also has electrical cables that are electrically connected to the motor control and signal processing board 300.

[0034] After the motor housing cover 620 is connected to the motor housing 610, the motor control and signal processing board 300 and the support plate of the high-speed shaft 100 are parallel and spaced a certain distance apart. In this embodiment, the motor control and signal processing board 300 is set in the cover cavity of the motor housing cover 620, which facilitates the disassembly, assembly, and maintenance of components such as the motor control and signal processing board 300 and the high-speed shaft 100.

[0035] like Figure 2 and Figure 8 As shown, the motor body in this embodiment also includes a low-speed shaft 400 and a reducer module 700.

[0036] The low-speed shaft 400 is located in the cavity of the motor housing 610.

[0037] The reducer module 700 is disposed within the cavity of the motor housing 610 and is connected and fixed to the motor housing 610. The reducer module 700 can be connected to the motor housing 610 by fastening screws, or by means of glue, clips, or pressure rings. In this embodiment, the reducer module 700 can specifically be a planetary gearbox.

[0038] The high-speed shaft 100 is connected to the power shaft of the reducer module 700; the low-speed shaft 400 is connected to the output shaft of the reducer module 700. When the joint geared motor drives the high-speed shaft 100 to rotate, the reducer module 700 enables the low-speed shaft 400 to rotate at a certain reduction ratio. For example, when the reduction ratio of the reducer module 700 is 16:1, if the high-speed shaft 100 rotates one revolution (mechanical angle 360°), then theoretically the low-speed shaft 400 will rotate 1 / 16 revolution (mechanical angle 22.5°).

[0039] In this embodiment, the high-speed shaft 100 and the low-speed shaft 400 are both located on the same side of the reducer module 700. This allows the high-speed encoder assembly and the low-speed encoder assembly to be located on the same side of the reducer module 700. While ensuring high-precision detection of the output position, the internal space of the joint motor can be effectively utilized, achieving miniaturization and high reliability of the detection device, thereby further reducing the size of the motor.

[0040] like Figure 4 , Figure 5 and Figure 6 As shown, the motor body in this embodiment also includes a coil winding 800 and a magnetic block 200.

[0041] The coil winding 800 is disposed within the cavity of the motor housing 610 and is connected and fixed to the reducer module 700. The reducer module 700 includes a cylindrical shell, and the coil winding 800 is connected and fixed to the outer peripheral wall of the cylindrical shell. The reducer module 700 also includes an annular plate connected axially to one end of the cylindrical shell, and the reducer module 700 is connected and fixed to the motor housing 610 via the annular plate and fastening screws. The coil winding 800 and the reducer module 700 cooperate to form the stator of the articulated geared motor.

[0042] The magnetic block 200 is mounted on the high-speed shaft 100. The magnetic block 200 and the high-speed shaft 100 cooperate to form the rotor of the joint geared motor.

[0043] like Figure 4 and Figure 5 As shown, the high-speed shaft 100 in this embodiment also includes a plurality of support protrusions 120. The inner ring body, outer ring body, metal spokes 110 and support protrusions 120 are integrally formed.

[0044] Multiple support protrusions 120 are connected to the side of the outer ring body facing away from the motor control and signal processing board 300, and the multiple support protrusions 120 are evenly distributed along the circumference of the outer ring body, and a magnetic block receiving groove is formed between two adjacent support protrusions 120. The setting of the magnetic block receiving groove facilitates the installation and positioning of the magnetic block 200.

[0045] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

Claims

1. An angle detection device, characterized in that, include: The high-speed encoder assembly includes metal spokes (110) for forming a high-speed shaft (100) and a first coil unit disposed on a motor control and signal processing board (300) and configured to cooperate with the metal spokes (110) to obtain the rotation angle of the high-speed shaft (100). The low-speed encoder assembly includes a code track (500) disposed on the low-speed shaft (400) and a second coil unit disposed on the motor control and signal processing board (300) and configured to cooperate with the code track (500) to obtain the rotation angle of the low-speed shaft (400).

2. The angle detection device according to claim 1, characterized in that, The number of metal spokes (110) is the same as the number of pole pairs of the motor, and the metal spokes (110) are evenly distributed around the central axis of the high-speed shaft (100).

3. The angle detection device according to claim 2, characterized in that, The first coil unit includes a first excitation coil and a first receiving coil.

4. The angle detection device according to claim 1, characterized in that, The code track (500) includes a semi-circular PCB board and copper foil etched on the PCB board.

5. The angle detection device according to claim 4, characterized in that, The second coil unit includes a second excitation coil and a second receiving coil.

6. A joint-type geared motor, comprising the angle detection device as described in claim 1, characterized in that, It also includes a motor body; the motor body includes a high-speed shaft (100); the high-speed shaft (100) includes: The support plate includes an inner ring body, an outer ring body, and metal spokes (110) connecting the inner ring body and the outer ring body.

7. The joint-type geared motor according to claim 6, characterized in that, The motor body also includes: The motor housing (610) has the high-speed shaft (100) disposed within the cavity of the motor housing (610); The motor housing cover (620) is detachably connected to the motor housing (610); The motor control and signal processing board (300) is disposed in the cover cavity of the motor housing cover (620). When the motor housing cover (620) is connected to the motor housing (610), the support plate of the high-speed shaft (100) is parallel to the motor control and signal processing board (300) and is disposed at a certain distance apart.

8. The joint-type geared motor according to claim 7, characterized in that, The motor body also includes: The low-speed shaft (400) is disposed in the cavity of the motor housing (610); The reducer module (700) is disposed in the cavity of the motor housing (610) and is connected and fixed to the motor housing (610); the high-speed shaft (100) is connected to the power shaft of the reducer module (700); the low-speed shaft (400) is connected to the output shaft of the reducer module (700).

9. The joint-type geared motor according to claim 8, characterized in that, The motor body also includes: The coil winding (800) is disposed in the cavity of the motor housing (610) and is connected and fixed to the reducer module (700); A magnetic block (200) is disposed on the high-speed shaft (100).

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