Joint motor with torque detection function

Abstract

The embodiment of the specification relates to the technical field of joint motors, in particular to a joint motor with torque detection function, which comprises: a reducer comprising an output end support; a motor shell; a coil support connected with the motor shell; an induction coil connected with the coil support; a signal processing board arranged on the coil support and electrically connected with the induction coil; a reverse magnetostrictive sheet connected with an output end planet carrier and arranged in an induction area of the induction coil. The joint motor of the embodiment of the specification obtains the torque of the output end of the reducer through the reverse magnetostrictive sheet, the induction coil and the signal processing board. The torque obtained in this way is not affected by mechanical wear and has a high signal-to-noise ratio at low speed / low torque. Moreover, a wire harness does not need to be arranged at the output end, and the joint motor can be applied to compact scenes.

Description

Technical Field

[0001] The embodiments in this specification relate to the field of articulated motor technology, specifically an articulated motor with torque detection function. Background Technology

[0002] In the field of articulated motors, the commonly used solutions for torque detection are current loop torque estimation or one-dimensional force measurement. The former has drawbacks: its accuracy is affected by reducer friction and temperature changes, and it suffers from low signal-to-noise ratio and susceptibility to disturbances at low speeds / low torques. The latter has drawbacks: the output rotates, and the wiring harness itself rotates with the product, causing long-term failure risks such as harness twisting and wear. These shortcomings severely limit the application of articulated motors in high-precision, compact applications. Utility Model Content

[0003] This specification addresses the shortcomings of existing technologies by proposing a joint motor with torque detection function, which is suitable for compact applications and obtains high torque accuracy.

[0004] In a first aspect of the embodiments of this specification, a joint motor with torque detection function is provided, comprising: Reducer, including output end bracket; Motor housing; The coil bracket connects to the motor housing; The induction coil is connected to the coil support. The signal processing board is mounted on the coil support and is electrically connected to the induction coil. A magnetostrictive sheet is connected to the output end bracket and is placed within the sensing area of ​​the induction coil.

[0005] Preferably, the coil support includes: Coil mounting sleeve; The mounting plate is connected to one axial end of the coil mounting sleeve; The connecting plate connects to the outer periphery of the mounting plate.

[0006] Preferably, the motor housing includes a mating plate that is detachably connected to the connecting plate, and the mating plate is sleeved on the outer periphery of the reducer.

[0007] Preferably, the outer peripheral wall of the coil mounting sleeve is provided with a coil mounting groove for mounting the induction coil.

[0008] Preferably, the output support includes: The first frame part is sleeve-shaped; The second frame includes an annular plate connected to one axial end of the first frame and a support wall connected to the outer periphery of the annular plate. The coil mounting sleeve is non-contactly sleeved on the outer periphery of the support wall, and the reverse magnetostrictive sheet is disposed on the outer periphery of the support wall, with the inner periphery of the coil mounting sleeve not in contact with the reverse magnetostrictive sheet. The third frame section is ring-shaped and connected to one axial end of the support wall.

[0009] Preferably, the reverse magnetostrictive sheet is bonded to the outer periphery of the support wall.

[0010] Preferably, the magnetostrictive sheet is arranged in a ring shape, and the induction coil is arranged in a ring shape.

[0011] Preferably, the joint motor also includes: The flange is detachably connected to the first frame section.

[0012] In a second aspect of the embodiments of this specification, a joint motor with torque detection function is provided, comprising: Reducer, including output end bracket; Motor housing; The coil bracket connects to the motor housing; The induction coil is connected to the coil support. The signal processing board is mounted on the coil support and is electrically connected to the induction coil. The coil support includes: Coil mounting sleeve; The output bracket includes: The first frame part is sleeve-shaped; The second frame includes an annular plate connected to one axial end of the first frame and a support wall connected to the outer periphery of the annular plate. The coil mounting sleeve is non-contactly sleeved on the outer periphery of the support wall, and the support wall is made of a reverse magnetostrictive material.

[0013] The embodiments in this specification have the following beneficial effects: The articulated motor of this embodiment has a magnetostrictive sheet on the output end bracket, a coil bracket on the motor housing, and an induction coil and a signal processing board on the coil bracket. The torque at the output end of the reducer is obtained through the magnetostrictive sheet, the induction coil, and the signal processing board. The torque obtained in this way is not affected by mechanical wear and has a high signal-to-noise ratio at low speed / low torque. Moreover, it does not require a wiring harness at the output end, making it suitable for compact applications.

[0014] Further or more detailed beneficial effects will be described in conjunction with specific embodiments in the detailed implementation. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the joint motor in the embodiments of this specification; Figure 2 This is an exploded view of the joint motor in the embodiments of this specification; Figure 3 This is a cross-sectional view of the output end bracket and coil bracket in the embodiments of this specification. Detailed Implementation

[0016] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0017] This embodiment provides a joint motor with torque detection function, such as Figure 1 As shown ( Figure 1 The output end bracket 100 (in a semi-sectional state) includes: The speed reducer includes an output end bracket 100; Motor housing 200; The coil bracket 300 is connected to the motor housing 200; The induction coil 400 is connected to the coil support 300; The signal processing board 500 is mounted on the coil support 300 and is electrically connected to the induction coil 400. A magnetostrictive sheet 600 is connected to the output end bracket 100, and the magnetostrictive sheet 600 is disposed in the sensing area of ​​the induction coil 400.

[0018] The joint motor in this embodiment can be a planetary reducer. The planetary reducer includes an input sun gear, planet gears, and an output support 100. The motor drives the input sun gear to rotate, which in turn drives the planet gears to rotate, and the planet gears drive the output support 100 to rotate. The input end of the reducer has a high rotational speed and low torque; the output end has a low rotational speed and high torque. This embodiment is mainly used to obtain the torque at the output end of the reducer.

[0019] In this embodiment, the induction coil 400 includes a primary coil and a secondary coil. The primary coil is used to pass a high-frequency AC excitation to generate an alternating magnetic field; the secondary coil is used to induce changes in the amplitude / phase of the voltage when the magnetic flux changes.

[0020] The signal processing board 500 in this embodiment may include a bare PCB board and various electronic components (such as resistors, capacitors, integrated circuits, connectors, etc.) that are set on the bare PCB board by a soldering process.

[0021] Working principle: When the output end bracket 100 rotates (mechanical rotation angle range is 0-360°), the output end bracket 100 will generate shear stress; when the output end bracket 100 generates shear stress, the reverse magnetostrictive plate 600 set on the output end bracket 100 will deform; when the reverse magnetostrictive plate 600 deforms, the permeability of the reverse magnetostrictive plate 600 will change; when the permeability of the reverse magnetostrictive plate 600 changes, the magnetic flux of the induction coil 400 will change; when the magnetic flux of the induction coil 400 changes, the electrical parameters (e.g., voltage value) of the induction coil 400 obtained by the signal processing board 500 will change; based on the changed electrical parameters, the signal processing board 500 can directly calculate the torque at the output end of the reducer; after obtaining the torque at the output end of the reducer, the signal processing board 500 can control the joint motor through the torque.

[0022] In this embodiment, the articulated motor has a magnetostrictive sheet 600 on the output end bracket 100, a coil bracket 300 on the motor housing 200, an induction coil 400 and a signal processing board 500 on the coil bracket 300. The torque at the output end of the reducer is obtained through the magnetostrictive sheet 600, the induction coil 400 and the signal processing board 500. The torque obtained in this way is not affected by mechanical wear and has a high signal-to-noise ratio at low speed / low torque. Moreover, it does not require a wiring harness at the output end, making it suitable for compact applications.

[0023] Furthermore, such as Figure 2 As shown, in this embodiment, the coil support 300 includes: Coil mounting sleeve 310; Mounting plate 320 is connected to one axial end of coil mounting sleeve 310. Mounting plate 320 may be annular.

[0024] The connecting plate 330 is connected to the outer periphery of the mounting plate 320. The connecting plate 330 may be annular.

[0025] In this embodiment, the coil mounting sleeve 310, mounting plate 320, and connecting plate 330 can be integrally formed. The coil mounting sleeve 310 is used to mount the induction coil 400, the mounting plate 320 is used to mount the signal processing board 500, and the connecting plate 330 is used to connect to the motor housing 200. This coil bracket 300 structure can not only effectively mount the induction coil 400 and the signal processing board 500, but also has a compact structure and small size.

[0026] Furthermore, such as Figure 1 and Figure 2 As shown, in this embodiment, the motor housing 200 includes a mating plate that is detachably connected to the connecting plate 330, and the mating plate is sleeved on the outer periphery of the reducer. The mating plate may be annular.

[0027] In this embodiment, the connecting plate 330 of the coil bracket 300 and the mating plate of the motor housing 200 can be detachably connected by fastening screws. This structure of the motor housing 200 makes the assembly and disassembly of the coil bracket 300 convenient and the connection structure stable.

[0028] Furthermore, such as Figure 3 As shown, in this embodiment, the outer peripheral wall of the coil mounting sleeve 310 is provided with a coil mounting groove 311 for mounting the induction coil 400.

[0029] In this embodiment, the induction coil 400 includes a primary coil and a secondary coil, so two coil mounting slots 311 are also provided accordingly. Using the coil mounting slots 311 to mount the induction coil 400 makes its installation more secure.

[0030] Furthermore, such as Figure 2 and Figure 3 As shown, in this embodiment, the output support 100 includes: The first frame section 110 is sleeve-shaped; The second frame 120 includes an annular plate connected to one axial end of the first frame 110 and a support wall 121 connected to the outer periphery of the annular plate. The coil mounting sleeve 310 is non-contactly sleeved on the outer periphery of the support wall 121. The reverse magnetostrictive sheet 600 is disposed on the outer periphery of the support wall 121, and the inner periphery of the coil mounting sleeve 310 is non-contact with the reverse magnetostrictive sheet 600. The third frame part 130 is in the shape of a ring plate and is connected to one axial end of the support wall 121.

[0031] In this embodiment, the outer peripheral diameter of the third frame portion 130 is larger than that of the second frame portion 120, and the outer peripheral diameter of the second frame portion 120 is larger than that of the first frame portion 110. This structure's output end bracket 100 allows for better docking between the installed magnetostrictive sheet 600 and the installed induction coil 400, resulting in more accurate detection results. Furthermore, in this embodiment, the thickness of the support wall 121 needs to be less than a set thickness threshold; this setting allows the support wall 121 to effectively deform the magnetostrictive sheet 600.

[0032] Furthermore, in this embodiment, the reverse magnetostrictive sheet 600 is bonded to the outer periphery of the support wall 121.

[0033] The magnetostrictive sheet 600 is connected to the support wall 121 by adhesive bonding, which makes the connection operation of the magnetostrictive sheet 600 convenient. Of course, the magnetostrictive sheet 600 can also be connected to the support wall 121 by other methods (such as spraying, sputtering, etc.).

[0034] Furthermore, such as Figure 2 As shown, in this embodiment, the magnetostrictive sheet 600 is arranged in a ring shape, and the induction coil 400 is arranged in a ring shape.

[0035] In this embodiment, the concentric ring arrangement of the magnetostrictive sheet 600 allows it to better generate changes in permeability, and the ring arrangement of the induction coil 400 allows it to better generate changes in magnetic flux. This enables the signal processing board 500 to obtain more accurate electrical parameters, ultimately improving the accuracy of torque value acquisition.

[0036] Furthermore, such as Figure 1 ( Figure 1 The flange 700 in the middle is in a semi-section state) and Figure 2 As shown, in this embodiment, the joint motor further includes: Flange 700 is detachably connected to the first frame part 110.

[0037] In this embodiment, the flange 700 can be connected to the first frame 110 via a key connection, making the flange 700 easy to assemble and disassemble. The flange 700 is provided with a mechanical interface for connecting to downstream components (such as robotic arms).

[0038] This embodiment provides a joint motor with torque detection function, including: The speed reducer includes an output end bracket 100; Motor housing 200; The coil bracket 300 is connected to the motor housing 200; The induction coil 400 is connected to the coil support 300; The signal processing board 500 is mounted on the coil support 300 and is electrically connected to the induction coil 400. The coil support 300 includes: Coil mounting sleeve 310; Mounting plate 320 is connected to one axial end of coil mounting sleeve 310; The connecting plate 330 is connected to the outer periphery of the mounting plate 320; The output bracket 100 includes: The first frame section 110 is sleeve-shaped; The second frame 120 includes an annular plate connected to one axial end of the first frame 110 and a support wall 121 connected to the outer periphery of the annular plate. The coil mounting sleeve 310 is non-contactly sleeved on the outer periphery of the support wall 121, and the support wall 121 is made of a reverse magnetostrictive material. The third frame part 130 is in the shape of a ring plate and is connected to one axial end of the support wall 121.

[0039] The difference between this embodiment and the first embodiment is that, instead of using the reverse magnetostrictive sheet 600, the support wall 121 of the second frame part 120 of the output end bracket 100 is directly made of reverse magnetostrictive material.

[0040] The above embodiments are merely descriptions of preferred embodiments of the present invention and are not intended to limit the concept and scope of the present invention. Various modifications and improvements made to the technical solutions of the present invention by those skilled in the art without departing from the design concept of the present invention should fall within the protection scope of the present invention. The technical content for which protection is sought in the present invention has been fully described in the claims.

Claims

1. A joint motor with torque detection function, characterized in that, include: The speed reducer includes an output end bracket (100). Motor housing (200); A coil support (300) is connected to the motor housing (200); An induction coil (400) is connected to the coil support (300); A signal processing board (500) is disposed on the coil support (300), and the signal processing board (500) is electrically connected to the induction coil (400); A magnetostrictive sheet (600) is connected to the output end bracket (100), and the magnetostrictive sheet (600) is disposed in the sensing area of ​​the induction coil (400).

2. The joint motor according to claim 1, characterized in that, The coil support (300) includes: Coil mounting sleeve (310); Mounting plate (320) is connected to one axial end of coil mounting sleeve (310); The connecting plate (330) is connected to the outer periphery of the mounting plate (320).

3. The joint motor according to claim 2, characterized in that, The motor housing (200) includes a docking plate that is detachably connected to the connecting plate (330), and the docking plate is sleeved on the outer periphery of the reducer.

4. The joint motor according to claim 2, characterized in that, The outer peripheral wall of the coil mounting sleeve (310) is provided with a coil mounting groove (311) for mounting the induction coil (400).

5. The joint motor according to claim 2, characterized in that, The output support (100) includes: The first frame part (110) is sleeve-shaped; The second frame (120) includes an annular plate connected to one axial end of the first frame (110) and a support wall (121) connected to the outer periphery of the annular plate. The coil mounting sleeve (310) is non-contactly sleeved on the outer periphery of the support wall (121). The reverse magnetostrictive sheet (600) is disposed on the outer periphery of the support wall (121), and the inner periphery of the coil mounting sleeve (310) is non-contact with the reverse magnetostrictive sheet (600). The third frame part (130) is in the shape of a ring plate and is connected to one axial end of the support wall (121).

6. The joint motor according to claim 5, characterized in that, The reverse magnetostrictive sheet (600) is bonded to the outer periphery of the support wall (121).

7. The joint motor according to claim 5, characterized in that, The magnetostrictive sheet (600) is arranged in a ring shape, and the induction coil (400) is arranged in a ring shape.

8. The joint motor according to claim 5, characterized in that, The joint motor also includes: The flange (700) is detachably connected to the first frame part (110).

9. A joint motor with torque detection function, characterized in that, include: The speed reducer includes an output end bracket (100). Motor housing (200); A coil support (300) is connected to the motor housing (200); An induction coil (400) is connected to the coil support (300); A signal processing board (500) is disposed on the coil support (300), and the signal processing board (500) is electrically connected to the induction coil (400); The coil support (300) includes: Coil mounting sleeve (310); The output support (100) includes: The first frame part (110) is sleeve-shaped; The second frame part (120) includes an annular plate connected to one axial end of the first frame part (110) and a support wall (121) connected to the outer periphery of the annular plate. The coil mounting sleeve (310) is non-contactly sleeved on the outer periphery of the support wall (121), and the support wall (121) is made of a reverse magnetostrictive material.

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