Detection device for detecting a spindle displacement of a roller screw motor of a robot and roller screw motor

Abstract

A detection device for detecting a spindle displacement of a roller screw motor of a robot, characterized in that the roller screw motor comprises a motor stator, a motor rotor, an internal support structure, a motor housing, and a motor spindle, wherein the motor stator is fixedly connected to the internal support structure, wherein the motor housing encloses the internal support structure, wherein the motor rotor is movably connected to the internal support structure, wherein the motor rotor can rotate relative to the motor stator, wherein the motor rotor, when rotating, sets the motor spindle into a linear movement, wherein the detection device comprises a first gear, a second gear, a first magnetic encoder and a second magnetic encoder, wherein the first gear is fixedly connected to an end piece of the motor rotor, wherein the first gear rotates with the motor rotor, wherein the second gear is arranged on the motor housing, wherein the second gear is in engagement with the first gear, wherein the second gear is driven for rotation by the first gear; wherein the first magnetic encoder is arranged on the first gear to detect a first angle of the first gear; wherein the second magnetic encoder is arranged on the second gear to detect a second angle of the second gear; wherein the number of teeth of the first gear is not equal to the number of teeth of the second gear; and wherein the first angle, the second angle and the difference between the number of teeth of the first gear and the number of teeth of the second gear are used to determine the spindle displacement.

Description

TECHNICAL FIELD

[0001] The present utility model relates to the field of detection technology, in particular to a detection device for detecting a spindle displacement of a roller screw motor of a robot and a roller screw motor. STATE OF THE ART

[0002] With the development of industrial technology, robots are finding widespread use in many areas, such as industrial production, detection, and medical services. Robots used in areas such as industrial production and detection require flexible robot arms to perform complex tasks. Robot joints give the robot arms more degrees of freedom.

[0003] Robot joints are typically controlled by a roller screw. A roller screw is a motor that converts rotary motion into linear motion, or linear motion into rotary motion. To better control the minute movements of robot joints, it is necessary to accurately measure the spindle displacement of the roller screw.

[0004] In the current state of the art, linear displacement sensors such as potentiometers, photoelectric encoders, and magnetic linear displacement sensors are typically used to directly measure linear displacements. This method offers high measurement accuracy and stability, but is expensive and requires dedicated sensing devices. Inertial sensors such as accelerometers and gyroscopes can also be used to measure linear displacements. This method does not rely on external sensing devices, is smaller in size and lower in cost, and is suitable for some wearable or embedded applications. However, inertial sensors are susceptible to interference from vibrations or acceleration changes, which can lead to accumulation of measurement errors.

[0005] It is evident that the spindle displacement of a roller screw motor of a robot cannot yet be accurately measured in the state of the art. DISCLOSURE OF THE UTILITY MODEL

[0006] In order to solve or at least partially solve the above-mentioned technical problems, the present utility model provides a detecting device for detecting a spindle displacement of a roller screw motor of a robot and a roller screw motor.

[0007] In a first aspect, the present utility model provides a detection device for detecting a spindle displacement of a roller screw motor of a robot, wherein the roller screw motor comprises a motor stator, a motor rotor, an internal support structure, a motor housing and a motor spindle, wherein the motor stator is fixedly connected to the internal support structure, wherein the motor housing encloses the internal support structure, wherein the motor rotor is movably connected to the internal support structure, wherein the motor rotor can rotate relative to the motor stator, wherein the motor rotor, when rotating, sets the motor spindle into a linear movement, wherein the detection device comprises a first gear, a second gear, a first magnetic encoder and a second magnetic encoder, wherein the first gear is fixedly connected to an end piece of the motor rotor, wherein the first gear rotates with the motor rotor, wherein the second gear is arranged on the motor housing, wherein the second gear is in engagement with the first gear, wherein the second gear is driven for rotation by the first gear; wherein the first magnetic encoder is arranged on the first gear to detect a first angle of the first gear; wherein the second magnetic encoder is arranged on the second gear to detect a second angle of the second gear; wherein the number of teeth of the first gear is not equal to the number of teeth of the second gear; and wherein the first angle, the second angle and the difference between the number of teeth of the first gear and the number of teeth of the second gear are used to determine the spindle displacement.

[0008] Optionally, it is provided that an end face of the first gear is firmly connected to the end piece of the motor rotor.

[0009] Optionally, it is provided that the first gear comprises a first gear disc and a first gear shaft, wherein the first gear shaft is arranged in the center of the first gear disc, wherein the first gear shaft is fixedly connected to the first gear disc, and wherein the first gear shaft is fixedly connected to the end piece of the motor rotor.

[0010] Optionally, it is provided that the first gear comprises a third gear disc and a third sleeve, wherein the third sleeve is arranged concentrically to the third gear disc, wherein the third sleeve is fixedly connected to the third gear disc, and wherein an inner wall of the third sleeve is fixedly connected to an outer wall of the end piece of the motor rotor.

[0011] Optionally, the first magnetic encoder includes: a first magnetic unit, the first magnetic unit being fixedly connected to the first gear, the first magnetic unit rotating with the rotation of the first gear, the first magnetic unit generating a changing first magnetic field upon rotation; a first sensor used to sense a change in the first magnetic field and to output a changed first electrical signal depending on the change in the first magnetic field; and a first output device used to output the first angle corresponding to a rotation angle of the first gear depending on the first electrical signal.

[0012] Optionally, the first magnetic unit is glued to a front surface of the first gear wheel that is far away from the motor housing, or that the first magnetic unit is embedded in an end face of the first gear wheel which is far away from the motor housing.

[0013] Optionally, it is provided that the second gear comprises a second gear disc and a second gear shaft, wherein the second gear shaft is arranged in the center of the second gear disc, wherein the second gear disc rotates about the second gear shaft, and wherein the second gear shaft is fixedly connected to the motor housing.

[0014] Optionally, the second magnetic encoder includes: a second magnetic unit, the second magnetic unit being fixedly connected to the second gear, the second magnetic unit rotating with the rotation of the second gear, the second magnetic unit generating a changing second magnetic field upon rotation; a second sensor used to sense a change in the second magnetic field and to output a changed second electrical signal depending on the change in the second magnetic field; and a second output device used to output the second angle corresponding to a rotation angle of the second gear depending on the second electrical signal.

[0015] Optionally, the second magnetic unit is glued to a front surface of the second gear wheel that is far away from the motor housing, or that the second magnetic unit is embedded in an end face of the second gear wheel which is far away from the motor housing.

[0016] In a second aspect, a roller screw motor of a robot is provided, comprising a motor stator, a motor rotor, an internal support structure, a motor housing, and a motor spindle, wherein the motor stator is fixedly connected to the internal support structure, wherein the motor housing encloses the internal support structure, wherein the motor rotor is movably connected to the internal support structure, wherein the motor rotor can rotate relative to the motor stator, wherein the motor rotor, when rotated, sets the motor spindle in a linear motion, wherein the roller screw motor of the robot further comprises the detection device described above.

[0017] The present utility model relates to a detection device for detecting a spindle displacement of a roller screw motor of a robot and a roller screw motor, wherein the roller screw motor comprises a motor stator, a motor rotor, an internal support structure, a motor housing, and a motor spindle. The detection device comprises a first gear, a second gear, a first magnetic encoder, and a second magnetic encoder. The first gear is fixedly connected to an end portion of the motor rotor, the first gear co-rotating with the motor rotor; the second gear is arranged on the motor housing, the second gear meshing with the first gear, the second gear being driven to rotate by the first gear; the first magnetic encoder is arranged on the first gear.to detect a first angle of the first gear; wherein the second magnetic encoder is arranged on the second gear to detect a second angle of the second gear; wherein the number of teeth of the first gear is different from the number of teeth of the second gear; and wherein the first angle, the second angle, and the difference between the number of teeth of the first gear and the number of teeth of the second gear are used to determine the spindle displacement. In the present utility model, the first angle of the first gear and the second angle of the second gear are detected, wherein the number of full revolutions of the motor rotor can be determined from the first angle and the second angle as well as the difference between the number of teeth of the first gear and the number of teeth of the second gear, whereby an actual angle of rotation of the motor rotor, i.e., a total rotor angle, can be acquired.The total rotor angle corresponds to the spindle displacement. Therefore, the present utility model solves the prior art problem that the spindle displacement of the roller screw motor cannot be accurately detected, since accurate counting is not possible after more than one full rotation of the motor rotor. The present utility model improves the accuracy of detecting the spindle displacement of the roller screw motor, enabling more precise control of the robot joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings here are incorporated into the specification, form a part of the specification, show the embodiments corresponding to the present utility model, and are used together with the description to explain the principle of the present utility model.

[0019] In order to more clearly explain the embodiments of the present utility model or the technical configurations in the prior art, the drawings required to describe the embodiments or the prior art are briefly presented below. Obviously, those skilled in the art can also obtain further drawings based on these drawings without inventive effort. Fig. 1 shows a schematic sectional view of a roller screw motor according to an embodiment of the present utility model; and Fig. 2 shows a schematic structural view of a roller screw motor according to an embodiment of the present utility model.

[0020] List of reference symbols: 1-motor rotor; 2-first gear; 3-first magnetic encoder; 4-second gear; 5-second magnetic encoder; 6-motor spindle. DETAILED EMBODIMENTS

[0021] In order to more clearly clarify the objectives, technical configurations, and advantages of the embodiments of the present utility model, the technical configurations in the embodiments of the present utility model are described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only a portion of the embodiments of the present utility model and do not encompass all embodiments. All other embodiments that can be achieved by a person skilled in the art without inventive effort based on the embodiments in the present utility model fall within the scope of protection of the present utility model.

[0022] With reference to Fig. 1 and Fig. 2, in one embodiment of the present utility model, the roller screw drive motor comprises a motor stator, a motor rotor 1, an internal support structure, a motor housing and a motor spindle 6, wherein the motor stator is fixedly connected to the internal support structure, wherein the motor housing encloses the internal support structure, wherein the motor rotor 1 is movably connected to the internal support structure, wherein the motor rotor 1 can rotate relative to the motor stator, wherein the motor rotor 1, when rotating, sets the motor spindle 6 into a linear movement, wherein the detection device comprises a first gear 2, a second gear 4, a first magnetic encoder 3 and a second magnetic encoder 5, wherein the first gear 2 is fixedly connected to an end piece of the motor rotor 1, wherein the first gear 2 rotates with the motor rotor 1, wherein the second gear 4 is arranged on the motor housing, wherein the second gear 4 is in engagement with the first gear 2, wherein the second gear 4 is driven to rotate by the first gear 2; wherein the first magnetic encoder 3 is arranged on the first gear 2 to detect a first angle of the first gear 2; wherein the second magnetic encoder 5 is arranged on the second gear 4 to detect a second angle of the second gear 4; wherein the number of teeth of the first gear 2 is not equal to the number of teeth of the second gear 4; and wherein the first angle, the second angle and the difference between the number of teeth of the first gear and the number of teeth of the second gear are used to determine the spindle displacement.

[0023] In the embodiment of the present utility model, the feature that the motor rotor 1 can rotate relative to the motor stator can be that the motor rotor 1 rotates inside the motor stator, or that the motor stator is inside and the motor rotor 1 rotates outside the motor stator.

[0024] The spindle displacement of the roller screw motor covered by the present utility model generally refers to a spindle displacement of the motor spindle 6. The motor spindle 6 is connected to the motor rotor 1 via threads or the like. The motor spindle 6 is connected to the internal support structure. When the motor rotor 1 rotates, the rotational movement is converted into a linear movement of the motor spindle 6 via threads or the like, so that the rotation angle of the motor rotor 1 corresponds to the spindle displacement of the motor spindle 6.

[0025] In the prior art, the magnetic encoder can detect an angular difference of the motor rotor 1 relative to a starting position when the motor rotor stops. However, when the motor rotor 1 rotates more than one full revolution, accurate counting is not possible, resulting in inaccurate detection results. For example, if the magnetic encoder detects that the motor rotor 1 rotates 90 degrees relative to the starting position when it stops, it cannot confirm whether the motor rotor 1 has rotated 90 degrees or one full revolution plus 90 degrees; that is, it cannot confirm whether it has rotated 90 degrees or 450 degrees. As the complexity of robot joints continues to increase, to control the movement of the robot joints, the rotor of the roller screw motor may need to be rotated by more degrees to cause the motor spindle to generate a larger displacement and reach the target.This means that the rotation angle of the motor rotor is very likely greater than 360 degrees. In the current technology, the angle of the motor rotor 1 is only measured using a magnetic encoder, making it difficult to achieve high accuracy, which also complicates precise control of the robot joints.

[0026] In the exemplary embodiment of the present utility model, the first gear 2 arranged on the motor rotor 1 also rotates one revolution if the motor rotor 1 rotates one revolution; for example, both rotate 360 degrees. However, since the number of teeth of the first gear 2 is different from the number of teeth of the second gear 4, and the first gear 2 and the second gear 4 rotate in meshing fashion, the second gear 4 also rotates, but its rotational degree is different from 360 degrees.

[0027] If the number of teeth of the first gear 2 and the number of teeth of the second gear 4 are known, the angle of rotation of the second gear 4 can be determined. Assuming that the number of teeth of the first gear 2 is A and the number of teeth of the second gear 4 is B, the first gear 2 rotates by M degrees and the second gear 4 rotates by M*A / B degrees.

[0028] Since the number of teeth of the first gear 2 and the number of teeth of the second gear 4 are known, the difference between the rotation angle of the first gear 2 and the rotation angle of the second gear 4 can be determined for each revolution of the motor rotor 1. Therefore, if the rotation angle of the first gear 2 and the rotation angle of the second gear 4 can be detected, that is, if the difference between the rotation angle of the first gear 2 and the rotation angle of the second gear 4 can be determined, it is possible to determine how many full revolutions the motor rotor 1 has completed.

[0029] In one embodiment of the present utility model, the first angle, the second angle and the difference between the number of teeth of the first gear 2 and the number of teeth of the second gear 4 are used to determine the spindle displacement.

[0030] In one embodiment of the present utility model, the first gear 2 is arranged at the end piece of the motor rotor 1, and the second gear 4 is arranged on the motor housing. The first gear 2 and the second gear 4 mesh with each other and have different numbers of teeth. The first angle of the first gear 2 and the second angle of the second gear 2 are detected, and the number of complete revolutions of the motor rotor 1 can be determined from the first angle and the second angle, as well as the difference between the number of teeth of the first gear 2 and the number of teeth of the second gear 4, whereby an actual rotation angle of the motor rotor can be acquired.This solves the prior art problem that the spindle displacement of the roller screw motor cannot be accurately detected because accurate counting is not possible after more than one full rotation by the motor rotor, so that the spindle displacement detection accuracy can be improved, thereby enabling more precise control of the robot joints.

[0031] In one embodiment of the present utility model, the first angle, the second angle and the difference between the number of teeth of the first gear 2 and the number of teeth of the second gear 4 are used to determine the spindle displacement.

[0032] In an embodiment of the present utility model, assuming that the number of teeth of the first gear 2 is A, a first angle output by the first magnetic encoder 3 at the initial time is E1 Zeroand a first angle output by the first magnetic encoder 3 at the stop time is E1, the first rotation angle E1-E1 Zero .

[0033] Assuming that the difference between the number of teeth of the first gear 2 and the number of teeth of the second gear 4 is X, the number of teeth of the second gear 4 is A+X. Assuming that a second angle output by the second magnetic encoder 5 at the initial time is E2 Zero and a second angle output by the second magnetic encoder 5 at the stop time is E2, the first angle of rotation is E2-E2 Zero .

[0034] Ea stands for parameters of the first magnetic encoder.

[0035] Then the first reference value is calculated as follows: Q1=((E1−E1Zero)−(E2−E2Zero)) / (Ea / A / X).

[0036] Q1 is rounded down to Q (i.e., the number of full revolutions).

[0037] The total rotor angle of the motor rotor is E=Q*Ea+E1.

[0038] The ratio of the extended motor spindle displacement to the retracted motor spindle displacement is P. The maximum displacement of the roller screw is La. Then the spindle displacement is L=La-E*P.

[0039] Determining the number of complete revolutions of the motor rotor 1 based on the first angle, the second angle, and the difference in the number of teeth between the first gear 2 and the second gear 4, and then determining the spindle displacement and other operations can be achieved using simple arithmetic operations such as addition, subtraction, multiplication, and division in the above formula. The subsequent four arithmetic operations can be performed by a subsequent arithmetic circuit. This arithmetic circuit can consist of basic circuit elements such as AND gates, NOT gates, amplifiers, counters, triggers, etc. Alternatively, this arithmetic circuit can consist of other devices that can perform addition, subtraction, multiplication, and division. Alternatively, this arithmetic circuit can be an integrated circuit chip according to the state of the art.Alternatively, this computing circuit may consist of multiple state-of-the-art integrated circuit chips. Alternatively, this computing circuit may be part of a computing module in a state-of-the-art main control chip of the robot. This will not be described repeatedly here.

[0040] In one embodiment of the present utility model, such a subsequent calculation process is not implemented by computer software or a computer program.

[0041] In further embodiments of the present utility model, the subsequent calculation process may be implemented by prior art computer software solely to calculate the spindle displacement from the data acquired in embodiments of the present utility model. The present utility model claims the structure and improvement of the hardware part described above, while the subsequent calculation process, which may be implemented by computer software, may be prior art, and the computer software that may be used is not improved by the present utility model.

[0042] In one embodiment of the present utility model, the difference between the number of teeth of the first gear 2 and the number of teeth of the second gear 4 is one.

[0043] The embodiments of the present utility model provide several types of structures of the first gear 2, wherein the end face of the first gear 2 is fixedly connected to the end piece of the motor rotor 1.

[0044] In one embodiment of the present utility model, it is provided that the first gear 2 comprises a first gear disc and a first gear shaft, wherein the first gear shaft is arranged in the center of the first gear disc, wherein the first gear shaft is fixedly connected to the first gear disc, and wherein the first gear shaft is fixedly connected to the end piece of the motor rotor 1.

[0045] In one embodiment of the present utility model, it is provided that the first gear 2 comprises a third gear disc and a third sleeve, wherein the third sleeve is arranged concentrically to the third gear disc, wherein the third sleeve is fixedly connected to the third gear disc, and wherein an inner wall of the third sleeve is fixedly connected to an outer wall of the end piece of the motor rotor 1.

[0046] In the embodiments of the present utility model, the structure of the first gear 2 is implemented in other forms, and the fixed connection between the first gear 2 and the motor rotor 1 is achieved by various ways, which will not be described repeatedly here.

[0047] In one embodiment of the present utility model, the first magnetic encoder 3 comprises: a first magnetic unit, the first magnetic unit being fixedly connected to the first gear 2, the first magnetic unit rotating with the rotation of the first gear 2, the first magnetic unit generating a changing first magnetic field upon rotation; a first sensor used to sense a change in the first magnetic field and to output a changed first electrical signal depending on the change in the first magnetic field; and a first output device used to output the first angle corresponding to a rotation angle of the first gear 2 depending on the first electrical signal.

[0048] The first magnetic encoder 3 may be a prior art magnetic encoder or other forms of devices with the same or similar functions, which will not be described repeatedly here.

[0049] In one embodiment of the present utility model it is provided that, as in Fig. 2, the first magnetic unit is glued to an end face of the first gear 2 far from the motor housing, or that the first magnetic unit is embedded in an end face of the first gear 2 which is far away from the motor housing.

[0050] In one embodiment of the present utility model, it is provided that the second gear 4 comprises a second gear disc and a second gear shaft, wherein the second gear shaft is arranged in the center of the second gear disc, wherein the second gear disc rotates about the second gear shaft, and wherein the second gear shaft is fixedly connected to the motor housing.

[0051] In the embodiments of the present utility model, the structure of the second gear 4 is implemented in other forms, and the connection between the second gear 4 and the motor housing is achieved by various ways, which will not be described repeatedly here.

[0052] In one embodiment of the present utility model, the second magnetic encoder 5 comprises: a second magnetic unit, the second magnetic unit being fixedly connected to the second gear 4, the second magnetic unit rotating with the rotation of the second gear 4, the second magnetic unit generating a changing second magnetic field upon rotation; a second sensor used to sense a change in the second magnetic field and to output a changed second electrical signal depending on the change in the second magnetic field; and a second output device used to output the second angle corresponding to a rotation angle of the second gear 4 depending on the second electrical signal.

[0053] The second magnetic encoder 5 may be a prior art magnetic encoder or other forms of devices with the same or similar functions, which will not be described repeatedly here.

[0054] In one embodiment of the present utility model it is provided that, as in Fig. 2, the second magnetic unit is glued to an end face of the second gear 4 far from the motor housing, or that the second magnetic unit is embedded in an end face of the second gear 4 which is far away from the motor housing.

[0055] In the embodiments of the present utility model, the number of complete revolutions of the motor rotor 1 can be accurately detected by a pair of gears having different numbers of teeth and meshing, thereby accurately detecting the spindle displacement of the roller screw motor, thus achieving high accuracy, simple structure, and low cost. Furthermore, in the embodiments of the present utility model, a pair of gears having different numbers of teeth and meshing and the magnetic encoders are used for detection without additionally providing other sensors, thereby reducing system noise.

[0056] The present utility model further provides a roller screw motor of a robot, comprising a motor stator, a motor rotor, an internal support structure, a motor housing and a motor spindle, wherein the motor stator is fixedly connected to the internal support structure, wherein the motor housing encloses the internal support structure, wherein the motor rotor is movably connected to the internal support structure, wherein the motor rotor can rotate relative to the motor stator, wherein the motor rotor, when rotating, sets the motor spindle in a linear movement, wherein the roller screw motor of the robot further comprises the detection device described above.

[0057] It should be noted that relational terms such as "first" and "second" are used herein merely to distinguish one entity or operation from another and do not necessarily require or imply that such an actual relationship or sequence exists between those entities or operations. Furthermore, the terms "comprising," "containing," or any other variation thereof, are intended to be non-exclusive, such that a process, method, article, or apparatus comprising a series of elements includes not only the expressly listed elements but also other elements not expressly listed, or includes elements inherent in the process, method, article, or apparatus. Without further limitation, an element identified by the term "comprising" includes...’ does not preclude the presence of additional identical elements in a process, method, article or device with that element.

[0058] The foregoing describes only specific embodiments of the present invention that enable those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art. The general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein, but should be accorded the broadest scope consistent with the principles and novel features claimed herein.

Claims

[1] Detection device for detecting a spindle displacement of a roller screw motor of a robot, characterized by that the roller screw motor comprises a motor stator, a motor rotor, an internal support structure, a motor housing and a motor spindle, wherein the motor stator is fixedly connected to the internal support structure, wherein the motor housing encloses the internal support structure, wherein the motor rotor is movably connected to the internal support structure, wherein the motor rotor can rotate relative to the motor stator, wherein the motor rotor, when rotating, sets the motor spindle into a linear movement, wherein the detection device comprises a first gear, a second gear, a first magnetic encoder and a second magnetic encoder, wherein the first gear is fixedly connected to an end piece of the motor rotor, wherein the first gear rotates with the motor rotor, wherein the second gear is arranged on the motor housing, wherein the second gear is in engagement with the first gear, wherein the second gear is driven for rotation by the first gear; wherein the first magnetic encoder is arranged on the first gear to detect a first angle of the first gear; wherein the second magnetic encoder is arranged on the second gear to detect a second angle of the second gear; wherein the number of teeth of the first gear is not equal to the number of teeth of the second gear; and wherein the first angle, the second angle and the difference between the number of teeth of the first gear and the number of teeth of the second gear are used to determine the spindle displacement. [2] Detection device according to claim 1, characterized by that an end face of the first gear is firmly connected to the end piece of the motor rotor. [3] Detection device according to claim 1, characterized by in that the first gear comprises a first gear disc and a first gear shaft, wherein the first gear shaft is arranged in the center of the first gear disc, wherein the first gear shaft is fixedly connected to the first gear disc, and wherein the first gear shaft is fixedly connected to the end piece of the motor rotor. [4] Detection device according to claim 1, characterized by in that the first gear comprises a third gear disc and a third sleeve, wherein the third sleeve is arranged concentrically to the third gear disc, wherein the third sleeve is fixedly connected to the third gear disc, and wherein an inner wall of the third sleeve is fixedly connected to an outer wall of the end piece of the motor rotor. [5] Detection device according to claim 1, characterized by that the first magnetic encoder includes: a first magnetic unit, the first magnetic unit being fixedly connected to the first gear, the first magnetic unit rotating with the rotation of the first gear, the first magnetic unit generating a changing first magnetic field upon rotation; a first sensor used to sense the first magnetic field and output a first electrical signal dependent on the first magnetic field; and a first output device used to output the first angle corresponding to a rotation angle of the first gear depending on the first electrical signal. [6] Detection device according to claim 5, characterized by that the first magnetic unit is glued to an end face of the first gear that is far away from the motor housing, or that the first magnetic unit is embedded in an end face of the first gear that is far away from the motor housing. [7] Detection device according to claim 1, characterized by in that the second gear comprises a second gear disc and a second gear shaft, wherein the second gear shaft is arranged in the center of the second gear disc, wherein the second gear disc rotates about the second gear shaft, and wherein the second gear shaft is fixedly connected to the motor housing. [8] Detection device according to claim 1, characterized by that the second magnetic encoder comprises: a second magnetic unit, the second magnetic unit being fixedly connected to the second gear, the second magnetic unit rotating with the rotation of the second gear, the second magnetic unit generating a changing second magnetic field upon rotation; a second sensor used to sense the second magnetic field and output a second signal dependent on the second magnetic field; and a second output device used to output the second angle corresponding to a rotation angle of the second gear depending on the second electrical signal. [9] Detection device according to claim 8, characterized by that the second magnetic unit is glued to an end face of the second gear that is far away from the motor housing, or that the second magnetic unit is embedded in an end face of the second gear that is far away from the motor housing. [10] Roller screw motor of a robot, characterized byin that it comprises a motor stator, a motor rotor, an internal support structure, a motor housing and a motor spindle, wherein the motor stator is fixedly connected to the internal support structure, wherein the motor housing encloses the internal support structure, wherein the motor rotor is movably connected to the internal support structure, wherein the motor rotor can rotate relative to the motor stator, wherein the motor rotor, when rotated, sets the motor spindle in a linear movement, wherein the roller screw drive motor of the robot further comprises a detection device according to one of claims 1 to 9.

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