Angular sensor and kinematic mechanism

Abstract

This application provides an angle sensor and a motion mechanism. The angle sensor includes a sensor module and a reducer. The sensor module includes a first signal rotor, a second signal rotor, and a detection unit. The detection unit detects a first rotation signal triggered by the first signal rotor and a second rotation signal triggered by the second signal rotor, and outputs the first and second rotation signals. The reducer has an input end and an output end. The output end is connected to the first signal rotor and is adapted to drive the first signal rotor to rotate. The input end is connected to the second signal rotor and is adapted to drive the second signal rotor to rotate. Therefore, on the one hand, multiple rotations of the angle at the input end can generate an angle jump within one rotation at the output end, thereby achieving absolute position calibration. On the other hand, the product of the speed ratio of the output end and the input end and the number of graduation intervals is the accuracy amplification factor, which can improve the accuracy of the angle sensor.

Description

Technical Field

[0001] This utility model relates to the field of angle sensor technology, and in particular to an angle sensor. Background Technology

[0002] In related technologies, angle sensors are used to detect the rotation angle of a moving mechanism. However, existing angle sensors can only perform angle calibration within a small stroke range, which cannot meet the needs of angle calibration within a large stroke range. Utility Model Content

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one objective of the present invention is to provide an angle sensor capable of angle calibration over a multi-turn range and a larger stroke range, meeting the application requirements for angle calibration over a large stroke range, and with higher accuracy.

[0004] This application further proposes a motion mechanism employing the aforementioned angle sensor.

[0005] In a first aspect, this application provides an angle sensor, comprising: a sensor module and a reducer. The sensor module includes: a first signal rotor, a second signal rotor, and a detection unit. The detection unit is used to detect a first rotation signal triggered by the first signal rotor and a second rotation signal triggered by the second signal rotor, and outputs the first rotation signal and the second rotation signal. The reducer has an input end and an output end. The output end is connected to the first signal rotor and is adapted to drive the first signal rotor to rotate. The input end is connected to the second signal rotor and is adapted to drive the second signal rotor to rotate.

[0006] According to the angle sensor of this application embodiment, a speed reducer is set to generate a speed difference between the input end and the output end, and the first signal rotor and the second signal rotor respectively collect the signal jumps at the output end and the input end. On the one hand, the angle change of multiple revolutions at the input end can be generated as the angle jump within one revolution at the output end, which can meet the angle calibration within a large stroke range and realize absolute position calibration. On the other hand, the product of the speed ratio of the output end and the input end and the number of graduation intervals is the accuracy amplification factor, which can improve the accuracy of the angle sensor.

[0007] According to some embodiments of this application, the reducer is configured as a coaxial reducer.

[0008] According to some embodiments of this application, the reducer is constructed as a harmonic reducer, the reducer includes: an input idler wheel, a flexible wheel and a rigid wheel, the input idler wheel is formed as the input end, the flexible wheel and the rigid wheel are formed as the output end, and the flexible wheel is connected to the first signal vane, and the rigid wheel is fixedly disposed.

[0009] According to some embodiments of this application, the angle sensor further includes: a housing, the reducer and the sensor module are both disposed within the housing, the housing is provided with an output port, and the output port is electrically connected to the sensor module.

[0010] According to some embodiments of this application, the rigid wheel is fixed to the housing.

[0011] According to some embodiments of this application, the angle sensor further includes: an input sleeve connected to the input end, and at least a portion of the input sleeve extending out of the housing.

[0012] According to some embodiments of this application, the detection unit includes: a first detection plate and a second detection plate electrically connected to each other, the first detection plate and the second detection plate being disposed opposite to each other within the housing, the first signal vane being located on the side of the first detection plate away from the second detection plate, and the second signal vane being located on the side of the second detection plate away from the first detection plate.

[0013] According to some embodiments of this application, the sensor module further includes a counter, which is electrically connected to the detection unit and is used to count based on the second rotation signal, so that the detection unit can output the absolute value of the angle of the first rotation signal and the count signal.

[0014] According to some embodiments of this application, the counter is integrated into the first detection board or into the second detection board.

[0015] Secondly, this application provides a motion mechanism, including: the angle sensor described in the above embodiments.

[0016] 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

[0017] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of an angle sensor according to an embodiment of this application; Figure 2This is a split schematic diagram of the angle sensor according to an embodiment of this application; Figure 3 This is a partial cross-sectional schematic diagram of an angle sensor according to an embodiment of this application; Figure 4 This is a partial cross-sectional schematic diagram of the angle sensor according to an embodiment of this application from another angle; Figure 5 This is a cross-sectional schematic diagram of an angle sensor according to an embodiment of this application; Figure 6 This is a cross-sectional schematic diagram of the angle sensor according to an embodiment of this application from another angle; Figure 7 This is a schematic diagram showing the accuracy ratio of angle sensing according to an embodiment of this application.

[0018] Figure label: Angle sensor 100, Sensor module 10, first signal rotor 11, second signal rotor 12, detection unit 13, first detection plate 131, second detection plate 132. Reducer 20, input idler wheel 21, flexible wheel 22, rigid wheel 23, Housing 30, output port 31 Input shaft sleeve 40. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the description of this application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms "comprising" and "having," and any variations thereof, in the description, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the description, claims, or accompanying drawings of this application are used to distinguish different objects, not to describe a specific order or hierarchy.

[0021] In this application, the reference to "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments.

[0022] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "attachment" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0023] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0024] In the embodiments of this application, the same reference numerals denote the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width, and other dimensions of various components in the embodiments of this application shown in the accompanying drawings, as well as the overall thickness, length, width, and other dimensions of the integrated device, are merely illustrative and should not constitute any limitation on this application.

[0025] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0026] In the description of this utility model, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or it may include the first and second features not being in direct contact but being in contact through another feature between them.

[0027] In the description of this utility model, the terms "above", "over" and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher horizontal level than the second feature.

[0028] In this application, "multiple" means two or more (including two).

[0029] The following is for reference. Figures 1-7 The present invention describes an angle sensor 100 and a motion mechanism according to an embodiment of the present invention.

[0030] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, this application provides an angle sensor 100, including: a sensor module 10 and a reducer 20.

[0031] The sensor module 10 includes a first signal rotor 11, a second signal rotor 12, and a detection unit 13. The detection unit 13 is used to detect the first rotation signal triggered by the first signal rotor 11 and the second rotation signal triggered by the second signal rotor 12, and output the first rotation signal and the second rotation signal. The reducer 20 has an input end and an output end. The output end is connected to the first signal rotor 11 and is adapted to drive the first signal rotor 11 to rotate. The input end is connected to the second signal rotor 12 and is adapted to drive the second signal rotor 12 to rotate.

[0032] Specifically, the detection unit 13 can integrate sensors such as Hall sensors for angle change recognition. The detection unit 13 can generate a signal value jump when the first signal vane 11 or the second signal vane 12 changes angle. The input and output ends of the reducer 20 are connected to the second signal vane 12 and the first signal vane 11, respectively. The input and output ends have a speed difference (such as meshing transmission, different number of teeth to achieve speed difference), which makes the number of jumps of the first signal vane 11 and the second signal vane 12 also different. When the speed at the input end is higher than the speed at the output end, the rotation range of the first signal vane 11 is set to be within 360°. The corresponding rotation range of the second signal vane 12 will be much greater than 360°. The rotation range of the second signal vane 12 is the speed ratio of the reducer 20.

[0033] Based on this, such as Figure 7 As shown, if the speed ratio between the input and output terminals is i, i should be greater than or equal to 1 and be an integer. Assuming that within a 360° range, the first signal rotor 11 and the second signal rotor 12 both jump n times, the detection accuracy of the angle sensor 100 can be increased by n times i.

[0034] It is understandable that the rotational speed of the second signal rotor 12 is i times (speed ratio) of the first signal rotor 11. The first jump scale value of the first signal rotor 11 is the same as the second jump scale value of the second signal rotor 12. Therefore, after every i × (360 / second jump scale value) jumps in the second rotational signal value of the second signal rotor 12, a jump in the first rotational signal value occurs. For example, if the first signal rotor 11 rotates 10°, the first rotational signal jumps once. Within this 10° range, the second signal rotor 12 needs to rotate five times. Therefore, the scale value for one jump in the first rotational signal is 10°. The speed ratio between the input and output terminals is 180. The second signal rotor 12 needs to rotate 5 times before the first signal rotor 11 produces a signal jump. Within 5 rotations, the second signal rotor 12 will generate multiple second rotation signal jumps. Taking the jump scale values ​​of the first signal rotor 11 and the second signal rotor 12 as the same, the second signal rotor 12 can generate 5×36=180 second rotation signal jumps within 5 rotations. Therefore, within a 10° range of the first rotation signal jump of the first signal rotor 11, 180 second rotation signal jumps can be calculated, which improves the accuracy by 180 times.

[0035] According to the angle sensor 100 of the present application embodiment, a speed reducer 20 is set to generate a speed difference between the input end and the output end, and the first signal rotor 11 and the second signal rotor 12 are used to collect the signal jumps of the output end and the input end respectively. On the one hand, the angle change of multiple revolutions at the input end can be generated as the angle jump within one revolution at the output end, which can meet the angle calibration within a large stroke range and realize absolute position calibration. On the other hand, the product of the speed ratio of the output end and the input end and the number of graduation intervals is the accuracy amplification factor, which can improve the accuracy of the angle sensor 100.

[0036] like Figure 2 , Figure 3 as well as Figure 4 As shown, according to some embodiments of this application, the reducer 20 is configured as a coaxial reducer.

[0037] Specifically, the output end and the input end are respectively connected to the first signal vane 11 and the second signal vane 12, so that the reducer 20 is constructed as a coaxial reducer. This allows the first signal vane 11 and the second signal vane 12 to be arranged coaxially. Furthermore, the detection unit 13, which integrates a sensor, can be positioned between the first signal vane 11 and the second signal vane 12. The rotation of the first signal vane 11 and the second signal vane 12 can be sensed by the intermediate detection module, generating a first rotation signal and a second rotation signal.

[0038] It is understandable that by selecting a coaxial reducer, the first signal vane 11, the second signal vane 12 and the detection unit 13 can be formed into a "sandwich structure" to improve space occupation and achieve a compact and miniaturized setting. At the same time, the input end and the output end are coaxially set. When applied to a motion mechanism, only the input end needs to be connected to the input shaft, which can also reduce the difficulty of arranging the angle sensor 100.

[0039] like Figure 5 and Figure 6 As shown, according to some embodiments of this application, the reducer 20 is constructed as a harmonic reducer. The reducer 20 includes an input idler wheel 21, a flexible wheel 22 and a rigid wheel 23. The input idler wheel 21 is formed as an input end, the flexible wheel 22 and the rigid wheel 23 are formed as output ends, and the flexible wheel 22 is connected to the first signal vane 11, and the rigid wheel 23 is fixedly disposed.

[0040] Specifically, the reducer 20 of this application uses a high-precision harmonic reducer. Through the differential gear engagement between the flexible wheel 22 and the rigid wheel 23, it achieves speed reduction and torque increase, and generates a speed difference between the input end and the output end. As one of the most precise reducers 20 currently available, the harmonic reducer can fully guarantee the signal accuracy from the input end to the output end.

[0041] Among them, the rigid wheel 23 is a fixed mechanism, while the flexible wheel 22 is rigidly connected to the first signal vane 11, and the input idler wheel 21 is rigidly connected to the second signal vane 12, so as to further improve the accuracy of the angle sensor 100 in this embodiment of the application by using a high-precision harmonic reducer in conjunction with the sensor module 10.

[0042] like Figure 2 , Figure 3 and Figure 4 As shown, according to some embodiments of this application, the angle sensor 100 further includes: a housing 30, a reducer 20 and a sensor module 10, both of which are disposed within the housing 30. An output port 31 is provided on the housing 30, and the output port 31 is electrically connected to the sensor module 10.

[0043] Specifically, the detection unit 13 can be configured as one detection board or multiple detection boards, and the sensor for acquiring the first signal change of the rotating plate 11 and the sensor for acquiring the second signal change of the rotating plate 12 (such as a Hall sensor) are both integrated on the detection board. The detection board is further integrated with a signal output terminal, which extends into the output port 31 on the housing 30 and is used to output the first rotation signal and the second rotation signal.

[0044] Understandably, the detection board is used for sensors, signal output terminals, and signal processing circuits in the intermediate links to realize signal acquisition, signal processing, and signal output functions.

[0045] like Figure 5 As shown, according to some embodiments of this application, the rigid wheel 23 is fixed to the housing 30.

[0046] Specifically, the rigid wheel 23 remains relatively stationary during the rotation of the reducer 20, and the housing 30 is fixedly connected to the rigid wheel 23. This ensures the coaxiality of the reducer 20, the first signal vane 11, and the second signal vane 12, so as to avoid the first signal vane 11 or the second signal vane 12 moving relative to the detection unit 13, which would cause errors in signal acquisition. This improves the reliability of the angle sensor 100 and further ensures the accuracy of the angle sensor 100.

[0047] Combination Figure 2 , Figure 3 and Figure 6 As shown, according to some embodiments of this application, the angle sensor 100 further includes an input sleeve 40, which is connected to the input end and at least a portion of the input sleeve 40 extends out of the housing 30.

[0048] Specifically, one end of the input sleeve 40 is located inside the housing 30 and is used to connect to the input end, while the other end of the input sleeve 40 extends out of the housing 30. The input sleeve 40 can be used to connect to the input shaft, and by extending it out of the housing 30, the connection area between the input shaft and the angle sensor 100 can be increased, thereby improving the connection stability and reliability between the angle sensor 100 and the input shaft.

[0049] See Figure 3 and Figure 4 As shown, according to some embodiments of this application, the detection unit 13 includes: a first detection plate 131 and a second detection plate 132 electrically connected, the first detection plate 131 and the second detection plate 132 are disposed opposite to each other in the housing 30, the first signal rotor 11 is located on the side of the first detection plate 131 away from the second detection plate 132, and the second signal rotor 12 is located on the side of the second detection plate 132 away from the first detection plate 131.

[0050] Specifically, the detection unit 13, configured as a detection plate, may include: a first detection plate 131 and a second detection plate 132. The first detection plate 131 integrates a first sensor that collects the abrupt changes of the first signal rotor 11, and the second detection plate 132 integrates a second sensor that collects the abrupt changes of the second signal rotor 12. The first signal rotor 11 is located on the side of the first detection plate 131 away from the second detection plate 132, and the second signal rotor 12 is located on the side of the second detection plate 132 away from the first detection plate 131. This can reduce the probability that the abrupt changes of the first signal rotor 11 will affect the second sensor, and the probability that the abrupt changes of the second signal rotor 12 will affect the first sensor, thereby further improving the accuracy of the angle sensor 100.

[0051] According to some embodiments of this application, the sensor module 10 further includes a counter, which is electrically connected to the detection unit 13 and is used to count based on the second rotation signal, so that the detection unit 13 can output the absolute value of the angle of the first rotation signal and the count signal.

[0052] like Figure 7 As shown in the figure, the lower waveform is the first rotation signal of the first signal rotor 11, and the upper waveform is the second rotation signal of the second signal rotor 12. Assuming that the highest accuracy that the first sensor and the second sensor can achieve in the 360° range is n, and the reduction ratio of the reducer 20 is i, then the accuracy of the angle sensor 100 of this application can reach i×n.

[0053] The specific principle is as follows: the first signal rotor 11 is divided into 360 / n division intervals within one revolution. A counter is set in the detection unit 13 simultaneously. The counter continuously reads the number of jumps in the second rotation signal value of the second signal rotor 12 within the 360 / n division interval of the first signal rotor 11. According to the principle of the reducer 20, the rotation speed of the second signal rotor 12 is i times that of the first signal rotor 11. Therefore, after every i jumps in the signal value of the second signal rotor 12, a jump in the first rotation signal value occurs. After the counter detects the jump in the first rotation signal value, it returns to zero and continues to count and return to zero in the next signal cycle, repeating the cycle.

[0054] Therefore, it is possible to divide the first rotation signal division value downwards by i times. The absolute position calibration of the angle signal is determined by an array. Each signal in the array is in the format A=(angle, order). For example, if the starting point signal of the current division value is (36.3°, 1) and the ending point is (36.3°, i), then the angle signal of the middle position is output by the absolute position and counter as (36.3°, 2), (36.3°, 3), (36.3°, 4)……(36.3°, i-1).

[0055] In this way, the first signal rotor 11 is decelerated by the reducer 20 and achieves absolute position calibration within 360°. The second signal rotor 12 generates a jump signal and transmits it to the counter. The counter counts with the deceleration ratio i as the period and stores the current value in real time. At the same time, the count value can be converted into an interpolated signal and integrated into an output array to realize the function of high-precision absolute position calibration of the angle sensor 100 within multiple revolutions.

[0056] For example, if the starting point signal of the current division value is (36.3°, 1) and the ending point is (36.3°, i), then the angle signal of the middle position is output by the absolute position and counter as (36.3°, 2), (36.3°, 3), (36.3°, 4)……(36.3°, i-1), which means that the angle of the first signal rotor 11 has not changed (maintained at 36.3°), and the following 1 to i-1 record the number of times the second rotor changes. When the first signal rotor 11 changes again, it is reset to zero and the counting starts again from the next angle value. For example, if the first signal rotor 11 changes once every 1°, then the next set of signals should be (37.3°, 1), (37.3°, 2), (37.3°, 3)……(37.3°, i-1).

[0057] In summary, the angle sensor 100 of this application embodiment can reduce the multi-turn angular displacement at the input end to less than one turn through a reducer, so that there is an absolute angular position signal throughout the entire stroke range of the large number of turns. Furthermore, the sensor can be made redundant, with angle signal readings performed on both the input and output shafts, and the two sets of signals calibrated using an array counting system, thereby achieving higher precision control.

[0058] According to some embodiments of this application, the counter is integrated into the first detection board 131 or into the second detection board 132.

[0059] It should be noted that the first detection board 131 and the second detection board 132 are electrically connected to realize data interaction, and the counter is used to count the second signal rotor 12. It can be selectively integrated on the first detection board 131 or the second detection board 132. The integration of the sensor, signal output terminal and signal processing circuit, counter, etc. on the intermediate link can further improve the compactness of the sensor module 10 while realizing the functions of signal acquisition, signal processing and signal output.

[0060] This application provides a motion mechanism, including: the angle sensor 100 in the above embodiment.

[0061] Specifically, the input shaft sleeve 40 is rigidly connected to the input shaft, the sensor body is fixed to the motion mechanism body, and the output terminal is connected to the output signal line to transmit the real-time angle position signal of the angle sensor 100 to the external controller for signal processing.

[0062] It should be noted that the motion mechanism can be a steering actuator, the corresponding input shaft can be a steering column, the angle sensor 100 identifies the driver's driving intention based on the angle change input by the input shaft, and the steering actuator can perform steering actions based on the angle signal (array) emitted by the angle sensor 100. Of course, the motion mechanism can be other mechanisms that move based on angle changes, and the input shaft corresponds to the shaft used to input angle changes. This application does not make specific limitations.

[0063] According to the motion mechanism of the present application embodiment, the angle output can be based on the angle sensor 100 of the present application embodiment. The angle sensor 100 has higher accuracy and can meet the angle calibration of a large stroke range, so that the angle adjustment accuracy of the motion mechanism can be higher.

[0064] The angle sensor 100 and other components and operations of the motion mechanism according to the embodiments of this utility model are known to those skilled in the art and will not be described in detail here.

[0065] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, 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, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0066] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An angle sensor, characterized in that, include: The sensor module (10) includes: a first signal rotor (11), a second signal rotor (12), and a detection unit (13). The detection unit (13) is used to detect the first rotation signal triggered by the first signal rotor (11) and the second rotation signal triggered by the second signal rotor (12), and output the first rotation signal and the second rotation signal. The reducer (20) has an input end and an output end. The output end is connected to the first signal vane (11) and is adapted to drive the first signal vane (11) to rotate. The input end is connected to the second signal vane (12) and is adapted to drive the second signal vane (12) to rotate.

2. The angle sensor according to claim 1, characterized in that, The reducer (20) is constructed as a coaxial reducer.

3. The angle sensor according to claim 1 or 2, characterized in that, The reducer (20) is constructed as a harmonic reducer. The reducer (20) includes an input idler wheel (21), a flexible wheel (22) and a rigid wheel (23). The input idler wheel (21) forms the input end, the flexible wheel (22) and the rigid wheel (23) form the output end, and the flexible wheel (22) is connected to the first signal vane (11). The rigid wheel (23) is fixedly installed.

4. The angle sensor according to claim 3, characterized in that, The angle sensor also includes a housing (30), the reducer (20) and the sensor module (10) are both disposed in the housing (30), and the housing (30) is provided with an output port (31), which is electrically connected to the sensor module (10).

5. The angle sensor according to claim 4, characterized in that, The rigid wheel (23) is fixed to the housing (30).

6. The angle sensor according to claim 4, characterized in that, The angle sensor further includes an input sleeve (40) connected to the input end, and at least a portion of the input sleeve (40) extends out of the housing (30).

7. The angle sensor according to claim 4, characterized in that, The detection unit (13) includes a first detection plate (131) and a second detection plate (132) electrically connected. The first detection plate (131) and the second detection plate (132) are disposed opposite to each other in the housing (30). The first signal vane (11) is located on the side of the first detection plate (131) away from the second detection plate (132), and the second signal vane (12) is located on the side of the second detection plate (132) away from the first detection plate (131).

8. The angle sensor according to claim 7, characterized in that, The sensor module (10) further includes a counter, which is electrically connected to the detection unit (13) and is used to count based on the second rotation signal, so that the detection unit (13) can output the absolute value of the angle of the first rotation signal and the count signal.

9. The angle sensor according to claim 8, characterized in that, The counter is integrated into the first detection board (131) or into the second detection board (132).

10. A motion mechanism, characterized in that, include: The angle sensor as described in any one of claims 1-9.

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