Shaft angle position sensing device

Abstract

This application provides a shaft angle position sensing device, in which a Hall effect sensing component is disposed on a first rotating component of the shaft. A magnetic ring is disposed on a second rotating component of the shaft; the second rotating component is rotatably connected to the first rotating component, allowing the first rotating component to rotate relative to the second rotating component; the magnetic ring includes a first arc-shaped magnet and a second arc-shaped magnet, which are connected end-to-end; the distance between the ends of the first arc-shaped magnet is less than the diameter of the ring containing the first arc-shaped magnet, and the distance between the ends of the second arc-shaped magnet is less than the diameter of the ring containing the second arc-shaped magnet. When the first rotating component rotates relative to the second rotating component, the magnetic field generated by the magnetic ring changes, and the Hall effect sensing component generates an electrical signal according to the change in the magnetic field, indicating the angular position of the first rotating component. The shaft angle position sensing device of this application can achieve high precision, high reliability, and large assembly tolerance within a limited space.

Description

Technical Field

[0001] This application relates to the field of angle sensing technology, specifically to a rotating shaft angle position sensing device. Background Technology

[0002] Angle sensing technology has wide applications in industrial automation, automotive electronics, and human and consumer electronics. Its core requirements are to achieve high-precision, high-reliability, and low-cost position measurement. Currently, the mainstream angle sensing solutions on the market mainly include magnetic encoders based on traditional circular magnetic rings, multi-ring magnetic solutions, and optical encoders. However, these solutions all have certain technical limitations and industry pain points.

[0003] First, traditional circular magnetic ring solutions employ permanent magnets with an axisymmetric structure, resulting in a centrally symmetrical magnetic field distribution. When used in conjunction with a Hall effect sensor, the sensor's output signal should theoretically be an ideal sine and cosine waveform. However, due to factors such as inhomogeneous magnetic ring material, magnetization deviations, and interference from environmental magnetic fields, the actual output signal often exhibits significant harmonic distortion (typically exceeding 5%), leading to substantial errors in angle calculation and making it difficult to meet the demands of high-precision applications.

[0004] Secondly, the multi-pole magnetic ring scheme improves the resolution and accuracy of angle measurement by increasing the number of pole pairs. However, this scheme has extremely stringent requirements for the relative position between the magnetic ring and the sensor; the assembly tolerance must typically be less than 0.1 mm, otherwise the signal quality will be severely degraded. This stringent assembly requirement significantly increases the difficulty of manufacturing and assembly, reduces production yield, and limits its application in large-scale mass production.

[0005] Furthermore, while optical encoders offer high accuracy and resolution, they are less resistant to contamination. Environmental pollutants such as dust and oil can easily cause signal attenuation or failure, resulting in insufficient reliability in harsh environments such as industrial sites. In addition, optical encoders have complex structures and are expensive, typically costing about three times that of traditional magnetic encoders, which hinders their adoption in cost-sensitive applications.

[0006] In summary, existing angle sensing technologies suffer from varying degrees of problems, including poor signal quality, difficult assembly, weak environmental adaptability, and excessively high costs. Therefore, there is an urgent need for a novel angle position measuring device that can achieve high precision, high reliability, and a large assembly tolerance within a limited space to meet the growing application demands. Utility Model Content

[0007] This application provides a shaft angle position sensing device that can achieve high precision, high reliability and large assembly tolerance within a limited space.

[0008] One embodiment of this application provides a rotating shaft angle position sensing device, comprising: a Hall effect sensing component disposed on a first rotating member of the rotating shaft; a magnetic ring disposed on a second rotating member of the rotating shaft; the second rotating member is rotatably connected to the first rotating member so that the first rotating member can rotate relative to the second rotating member; the magnetic ring includes a first arc-shaped magnet and a second arc-shaped magnet, the first arc-shaped magnet and the second arc-shaped magnet being connected end to end; the distance between the ends of the first arc-shaped magnet is less than the diameter of the ring in which the first arc-shaped magnet is located, and the distance between the ends of the second arc-shaped magnet is less than the diameter of the ring in which the second arc-shaped magnet is located; when the first rotating member rotates relative to the second rotating member, the magnetic field generated by the magnetic ring changes, and the Hall effect sensing component generates an electrical signal as the magnetic field changes, the electrical signal indicating the angle position of the first rotating member.

[0009] In one embodiment, the first arc-shaped magnet and the second arc-shaped magnet are integrally formed.

[0010] In one embodiment, the magnetic ring has an axisymmetric structure, and the axis of symmetry includes two axes of symmetry that are perpendicular to each other, one of which coincides with the line connecting the beginning and end of the first arc-shaped magnet.

[0011] In one embodiment, the outer ring radius of the ring containing the first arc-shaped magnet is 8 mm, the inner ring radius is 5 mm, the center-to-center distance between the ring containing the first arc-shaped magnet and the ring containing the second arc-shaped magnet is 1 mm, and the dimension of the magnetic ring in the direction perpendicular to the plane formed by the two axes of symmetry is 2 mm.

[0012] In one embodiment, a rotating shaft angle position sensing device is applied to the rotating shaft. When the first rotating member rotates to any angle position relative to the second rotating member, the Hall effect sensing component is arranged parallel or perpendicular to the plane formed by the two axes of symmetry.

[0013] In one embodiment, the distance between the Hall effect sensing component and the plane formed by the two axes of symmetry of the magnetic ring is 6 mm ± 0.5 mm.

[0014] In one embodiment, the magnetization direction of the magnetic ring is toward the intersection of the two axes of symmetry.

[0015] In one embodiment, there is one Hall effect sensing element and one magnetic ring.

[0016] In one embodiment, the Hall effect sensing component is a 3D Hall chip, which integrates three orthogonal Hall sensing units on a single chip to simultaneously output magnetic field data along three orthogonal axes.

[0017] This application provides a shaft angle position sensing device, including a Hall effect sensing component and a magnetic ring. The magnetic ring includes a first arc-shaped magnet and a second arc-shaped magnet, which are connected end-to-end. The distance between the ends of the first arc-shaped magnet is less than the diameter of the ring containing the first arc-shaped magnet, and the distance between the ends of the second arc-shaped magnet is less than the diameter of the ring containing the second arc-shaped magnet. When it is necessary to detect the rotation angle position of the shaft, the Hall effect sensing component is placed on a first rotating component, and the magnetic ring is placed on a second rotating component of the shaft. When the first rotating component rotates relative to the second rotating component, the magnetic field generated by the magnetic ring changes. The Hall effect sensing component generates an electrical signal according to the change in the magnetic field, and the electrical signal indicates the angle position of the first rotating component. The electrical signal generated by the shaft angle position sensing device of this application is monotonically mapped after fitting with the rotation angle of the first rotating component relative to the second rotating component, and can achieve high precision, high reliability, and large assembly tolerance within a limited space. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the rotating shaft angle position sensing device.

[0019] Figure 2 This is a schematic diagram of the three-dimensional structure of the magnetic ring;

[0020] Figure 3 A three-dimensional structural diagram of a robot's micro-joint;

[0021] Figure 4 A side perspective view of the robot's micro-joint structure;

[0022] Figure 5 This is a schematic diagram of the exploded structure of a robot's micro-joint.

[0023] Figure 6 This is a fitting graph of the voltage output by the Hall effect sensing component and the joint rotation angle when the pivot angle position sensing device is applied to the robot micro-joint in Embodiment 1 of this application.

[0024] Reference numerals: Rotation axis angle position sensing device-100, Hall effect sensing component-110, magnetic ring-120, first arc magnet-121, second arc magnet-122, axis of symmetry-200, robot micro joint-300, first joint-310, second joint-320, second mounting slot-321, rotation axis-330. Detailed Implementation

[0025] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. Similar elements in different embodiments are referred to by related similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the present application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to the present application are not shown or described in the specification. This is to avoid obscuring the core parts of the present application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0026] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments, and the operational steps involved in each embodiment can also be rearranged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the specification and drawings are only for clearly describing a particular embodiment and do not imply that they represent the necessary components and / or order.

[0027] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0028] Example 1

[0029] This application provides a shaft angle position sensing device 100. Please refer to [reference needed]. Figure 1-2 The shaft angle position sensing device 100 includes a Hall effect sensing component 110 and a magnetic ring 120.

[0030] Please refer to Figure 1-2 A Hall effect sensing component 110 is disposed on a first rotating component of the rotating shaft. A magnetic ring 120 is disposed on a second rotating component of the rotating shaft, the second rotating component being rotatably connected to the first rotating component so that the first rotating component can rotate relative to the second rotating component. The magnetic ring 120 includes a first arc-shaped magnet 121 and a second arc-shaped magnet 122, the first arc-shaped magnet 121 and the second arc-shaped magnet 122 being connected end to end. The distance between the ends of the first arc-shaped magnet 121 is less than the diameter of the ring containing the first arc-shaped magnet 121, and the distance between the ends of the second arc-shaped magnet 122 is less than the diameter of the ring containing the second arc-shaped magnet 122. When the first rotating component rotates relative to the second rotating component, the magnetic field generated by the magnetic ring 120 changes, and the Hall effect sensing component 110 generates an electrical signal according to the change in the magnetic field, the electrical signal indicating the angular position of the first rotating component.

[0031] In this application, the magnetic ring 120 includes a first arc-shaped magnet 121 and a second arc-shaped magnet 122. The first arc-shaped magnet 121 and the second arc-shaped magnet 122 are connected end to end, and the distance between the ends of the first arc-shaped magnet 121 is less than the diameter of the ring in which the first arc-shaped magnet 121 is located, and the distance between the ends of the second arc-shaped magnet 122 is less than the diameter of the ring in which the second arc-shaped magnet 122 is located. When it is necessary to measure the angular position of the first rotating component of the shaft relative to the second rotating component, a Hall effect sensing component 110 is disposed on the first rotating component, and the magnetic ring 120 is disposed on the second rotating component of the shaft. When the first rotating component rotates relative to the second rotating component, the magnetic field generated by the magnetic ring 120 changes, and the Hall effect sensing component 110 generates an electrical signal as the magnetic field changes. The electrical signal indicates the angular position of the first rotating component, and the electrical signal has a monotonic mapping relationship with the angular position of the first rotating component, thereby uniquely determining the rotation angle of the first rotating component relative to the second rotating component.

[0032] In this application, the magnetic field generated by the magnetic ring 120 is a nonlinear gradient magnetic field. The electrical signal generated by the Hall effect sensing component 110 is a voltage.

[0033] In this application, the first arc-shaped magnet 121 and the second arc-shaped magnet 122 are integrally formed.

[0034] The magnetic ring 120 is manufactured as a single piece to ensure perfect uniformity and high symmetry in the spatial distribution of its magnetic field. Multi-segment splicing introduces differences in magnetic properties and mechanical errors, leading to magnetic field distortion and harmonic distortion, which severely reduces the accuracy of angle measurement. The single-piece structure avoids these defects, generates an ideal magnetic field signal, and offers higher mechanical strength and reliability, meeting the stringent requirements of high precision and durability in automotive and industrial applications.

[0035] In this embodiment, as Figure 1 The magnetic ring 120 has an axisymmetric structure, and the axis of symmetry 200 includes two axes of symmetry, which are perpendicular to each other. One of the axes of symmetry 200 coincides with the line connecting the beginning and end of the first arc-shaped magnet 121.

[0036] In this embodiment, as Figure 1 The outer ring radius of the ring containing the first arc magnet 121 is 8 mm and the inner ring radius is 5 mm. The center distance between the ring containing the first arc magnet 121 and the ring containing the second arc magnet 122 is 1 mm, and the dimension of the magnetic ring 120 in the direction perpendicular to the plane formed by the two axes of symmetry is 2 mm.

[0037] Using a magnetic ring structure of this size yields the best linear fitting effect for voltage-angle.

[0038] More specifically, in this embodiment, please refer to Figure 1-2 The first arc-shaped magnet 121 and the second arc-shaped magnet 122 are both obtained by "carving out" a small cylindrical structure from the inside of a cylindrical structure along the height direction.

[0039] In this application, the rotating shaft angle position sensing device 100 is applied to the rotating shaft. When the first rotating member rotates to any angle position relative to the second rotating member, the Hall effect sensing component 110 is arranged parallel or perpendicular to the plane formed by the two axes of symmetry. In this embodiment, please refer to... Figure 5 Specifically, the Hall effect sensing element 110 is arranged in a plane parallel to the two axes of symmetry.

[0040] In the rotating shaft angle position sensing device 100 of this application, when applied to a rotating shaft, the spatial placement of the magnetic ring 120 and the Hall effect sensing component 110 is relatively flexible; the Hall effect sensing component 110 can be arranged parallel to or perpendicular to the plane formed by the two axes of symmetry. More specifically, please refer to... Figure 5 The Hall effect sensing component 110 has a cuboid structure comprising six planes, wherein the plane with the largest area of ​​the Hall effect sensing component 110 is arranged parallel or perpendicular to the plane formed by the two axes of symmetry. Note that any orientation or extension direction of the Hall effect sensing component 110 mentioned in this application refers to the orientation or extension direction of the plane with the largest area.

[0041] Specifically, in this embodiment, when the rotation angle of the first rotating member is 0°, the Hall effect sensing component 110 extends along the line connecting the beginning and end of the first arc-shaped magnet 121. It should be noted that the state where the rotation angle of the first rotating member is 0° is as follows: one end of the first rotating member is rotatably connected to one end of the second rotating member, and the ends of the first rotating member and the second rotating member away from the connection are positioned far apart from each other, with the first and second rotating members located on the same straight line. More specifically, when the rotation angle of the first rotating member is 0°, the distance between the plane formed by the two axes of symmetry of the Hall effect sensing component 110 and the magnetic ring 120 is 6mm ± 0.5mm, specifically 6mm in this embodiment.

[0042] In the embodiments of this application, the magnetization direction of the magnetic ring 120 is toward the intersection of the two axes of symmetry 200.

[0043] The magnetization process causes the magnetic domains inside the magnetic material to align in an ordered manner. However, the high temperature and high pressure environment during injection molding can destroy this ordered structure, leading to complete or partial demagnetization. The post-magnetization process ensures that the magnetic ring 120 establishes the strongest and most stable magnetic state after obtaining its final geometry, guaranteeing that the magnetic field mode is completely consistent with the design expectations, thus laying a reliable foundation for achieving high-precision angle measurement.

[0044] In this embodiment, there is one Hall effect sensing component 110 and one magnetic ring 120.

[0045] In this embodiment, only one Hall effect sensing component 110 and a magnetic ring 120 are needed to measure the rotation angle of the shaft, greatly simplifying the structure. Furthermore, the Hall effect sensing component 110 and magnetic ring 120 of this application are small in size, making them easy to integrate into microstructures and applicable to many space-constrained scenarios, such as robot micro-joints, motor rotor position detection, car accelerator pedals, and smart knobs.

[0046] In the embodiments of this application, the Hall effect sensing component 110 is a 3D Hall chip, which integrates three orthogonal Hall sensing units on a single chip to simultaneously output magnetic field data along three orthogonal axes.

[0047] In this embodiment, the pivot angle position sensing device 100 is applied to the robot's miniature finger joint 300, such as... Figure 3-5 As shown, the pivot is a robot miniature finger joint 300, the first rotating component is a first joint 310, the second rotating component is a second joint 320, a 3D Hall chip is disposed in the first joint 310, and a magnetic ring 120 is disposed in the second joint 320. Specifically, the first joint 310 and the second joint 320 are connected by a pivot 330, and the magnetic ring 120 is disposed at the pivot 330, which passes through the intersection of the mutually perpendicular axes of symmetry of the magnetic ring 120. More specifically, the first joint 310 has a first mounting groove (not shown), and the second joint 320 has a second mounting groove 321. The pivot 330 passes through both the second mounting groove 321 and the first rotating component, and the magnetic ring 120 is disposed within the second mounting groove 321. When the first joint 310 rotates relative to the second joint 320, the 3D Hall chip generates a changing voltage, and its linear fitting structure is as follows: Figure 6 As shown, the angle information of joint motion can be determined based on the relationship between the angle-voltage monotonic mapping characteristics.

[0048] The rotating shaft angle position sensing device 100 of this application uses only one magnetic ring 120 and one 3D Hall chip, which simplifies the structure of the device. Furthermore, the small size of the magnetic ring 120 and the 3D Hall chip facilitates integration into a microstructure. Additionally, the placement of the magnetic ring 120 and the 3D Hall chip is flexible. The rotating shaft angle position sensing device 100 of this application exhibits excellent anti-interference capabilities, with an axial eccentricity tolerance of ±1.5mm. The overall cost of the rotating shaft angle position sensing device 100 is also low.

[0049] The above-described specific examples are for illustrative purposes only and are not intended to limit the scope of this invention. Those skilled in the art to which this invention pertains can make various simple deductions, modifications, or substitutions based on the concept of this invention.

Claims

1. A rotating shaft angle position sensing device, characterized in that, include: A Hall effect sensing component is disposed on the first rotating part of the rotating shaft; A magnetic ring is mounted on the second rotating component of the rotating shaft; The second rotating component is rotatably connected to the first rotating component so that the first rotating component can rotate relative to the second rotating component; the magnetic ring includes a first arc-shaped magnet and a second arc-shaped magnet, the first arc-shaped magnet and the second arc-shaped magnet being connected end to end; The distance between the first and last ends of the first arc-shaped magnet is less than the diameter of the ring in which the first arc-shaped magnet is located, and the distance between the first and last ends of the second arc-shaped magnet is less than the diameter of the ring in which the second arc-shaped magnet is located; When the first rotating member rotates relative to the second rotating member, the magnetic field generated by the magnetic ring changes, and the Hall effect sensing component generates an electrical signal as the magnetic field changes, the electrical signal indicating the angular position of the first rotating member; The first arc-shaped magnet and the second arc-shaped magnet are integrally formed, and the magnetic ring has an axisymmetric structure.

2. The shaft angle position sensing device as described in claim 1, characterized in that, The magnetic ring has two axes of symmetry, which are perpendicular to each other, and one of the axes of symmetry coincides with the line connecting the beginning and end of the first arc-shaped magnet.

3. The shaft angle position sensing device as described in claim 2, characterized in that, The outer ring radius of the ring containing the first arc-shaped magnet is 8mm, the inner ring radius is 5mm, the center distance between the ring containing the first arc-shaped magnet and the ring containing the second arc-shaped magnet is 1mm, and the dimension of the magnetic ring in the direction perpendicular to the plane formed by the two axes of symmetry is 2mm.

4. The shaft angle position sensing device as described in claim 2, characterized in that, When the rotating shaft angle position sensing device is applied to the rotating shaft, the Hall effect sensing component is arranged parallel or perpendicular to the plane formed by the two axes of symmetry when the first rotating member rotates at any angle relative to the second rotating member.

5. The shaft angle position sensing device as described in claim 4, characterized in that, The distance between the Hall effect sensing component and the plane formed by the two axes of symmetry of the magnetic ring is 6mm ± 0.5mm.

6. The shaft angle position sensing device as described in claim 2, characterized in that, The magnetization direction of the magnetic ring is toward the intersection of the two axes of symmetry.

7. The shaft angle position sensing device as described in claim 1, characterized in that, The number of the Hall effect sensing component and the magnetic ring is one each.

8. The shaft angle position sensing device as described in any one of claims 1-7, characterized in that, The Hall effect sensing component is a 3D Hall chip, which integrates three orthogonal Hall sensing units on a single chip to simultaneously output magnetic field data along three orthogonal axes.

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