Device for detecting the displacement of a leadscrew in a roller leadscrew motor and a robot roller leadscrew motor

Abstract

Device for detecting the displacement of a leadscrew in a roller screw motor and a robot roller screw motor. The present invention relates to a device for detecting the displacement of a leadscrew in a roller screw motor and a robot roller screw motor. The roller screw motor comprises a motor rotor (1) and a motor leadscrew (6). The linear motion of the motor leadscrew (6) is driven by the rotation of the motor rotor (1). The detection device comprises: a first gear (2), a second gear (4), a first magnetic encoder (3), and a second magnetic encoder (5). The first gear (2) is fixedly connected to the end of the motor rotor (1); the second gear (4) is mounted on the motor housing. The second gear (4) and the first gear (2) mesh. Figure to be published with the abstract: Figure 1

Description

Title of the invention: Device for detecting the displacement of a leadscrew in a roller leadscrew motor and a robot roller leadscrew motor technical field

[0001] The present invention relates to the field of detection, in particular a device for detecting the displacement of the leadscrew of a roller leadscrew motor and a robot roller leadscrew motor. Technology context

[0002] With the development of industrial techniques, robots have been widely used in various fields such as industrial production, detection, medical services, etc. Robots used in fields such as industrial production, detection, etc., must have mobile robotic arms in order to perform relatively complex tasks, but a relatively large number of degrees of freedom of the robotic arms is achieved through the robot joints.

[0003] It is generally the roller leadscrew motor that controls the robot's joints. The roller leadscrew motor is an electric motor used to convert rotary motion into linear motion or vice versa. To better control the micromovements of the robot's joints, it is necessary to precisely detect the displacement of the roller leadscrew motor.

[0004] In existing technologies, linear displacement sensors such as potentiometers, photoelectric encoders, magnetic linear displacement sensors, etc., are generally used to directly measure linear displacement. This method has several advantages, such as relatively high measurement accuracy and stability, but the costs are relatively high, and special sensor equipment is required. In existing technologies, inertial sensors, such as accelerometers, gyroscopes, etc., can also be used to measure linear displacement. This method does not depend on external sensor devices and has several advantages, such as relatively small size, relatively low cost, and suitability for certain portable or embedded applications. However, inertial sensors are sensitive to disturbances such as vibrations, acceleration variations, etc.These disturbances will eventually lead to an accumulation of measurement errors.

[0005] It can be seen that the displacement of the lead screw of the robot roller lead screw motor cannot be exactly detected with existing technologies. Contents of the invention

[0006] In order to solve the above technical problem or to solve at least part of the above technical problem, the present invention provides a device for detecting the displacement of a leadscrew of a roller leadscrew motor and a robot roller leadscrew motor.

[0007] On the one hand, the present invention provides a device for detecting the displacement of a leadscrew of a robot roller leadscrew motor, said roller leadscrew motor comprises a motor stator, a motor rotor, an internal support structure, a motor housing and a motor leadscrew, said motor stator is fixedly connected to said internal support structure, said motor housing encloses the outside of said internal support structure, said motor rotor is movably connected to said internal support structure, said motor rotor is capable of rotating relative to said motor stator, a linear movement of said motor leadscrew is driven by the rotation of the motor rotor,

[0008] Said detection device comprises: a first gear, a second gear, a first magnetic encoder and a second magnetic encoder,

[0009] Said first gear is fixedly connected to the end of said motor rotor and said first gear rotates with said motor rotor;

[0010] Said second gear is installed on said motor housing, said second gear and said first gear mesh and said second gear rotates under the drive of said first gear;

[0011] Said first magnetic encoder is installed on said first gear and is used to detect a first angle of said first gear.

[0012] Said second magnetic encoder is installed on said second gear, to detect a second angle of said second gear;

[0013] In which, the number of teeth of said first gear is not equal to the number of teeth of said second gear;

[0014] Said first angle, second angle and the difference in number of teeth between said first gear and said second gear are used to obtain the displacement of said lead screw.

[0015] Optionally, the end surface of said first gear is fixedly connected to the end of said motor rotor.

[0016] Optionally, said first gear comprises a first gear disc and a first gear shaft, said first gear shaft is installed in the center of said first gear disc, said first gear shaft is fixedly connected to said first gear disc, said first gear shaft is fixedly connected to the end of said motor rotor.

[0017] Optionally, said first gear includes a third gear disc and a third sleeve, said third sleeve is arranged concentrically with said third gear disc, said third sleeve is fixedly connected to said third gear disc, the inner wall of said third sleeve is fixedly connected to the outer wall of the end of said motor rotor.

[0018] Optionally, said first magnetic encoder includes:

[0019] A first magnetic unit, said first magnetic unit is fixedly connected to said first gear, said first magnetic unit rotates with the rotation of the first gear, a first variable magnetic field is generated during the rotation of said first magnetic unit;

[0020] A first inductor, which is used to detect said first magnetic field, and outputs a first electrical signal as a function of said first magnetic field;

[0021] A first output device, which is used to output said first angle corresponding to the angle of rotation of said first gear as a function of said first electrical signal.

[0022] Optionally, said first magnetic unit is glued onto the end surface of said first gear furthest from said motor housing, or

[0023] Said first magnetic unit is embedded in the end surface of said first gear away from said motor housing.

[0024] Optionally, said second gear includes a second gear disc and a second gear shaft, said second gear shaft is installed in the center of said second gear disc, said second gear shaft rotates around said second gear shaft, said second gear shaft is fixedly connected to said motor housing.

[0025] Optionally, said second magnetic encoder includes:

[0026] A second magnetic unit, said second magnetic unit is fixedly connected to said second gear, said second magnetic unit rotates with the rotation of said second gear, a second variable magnetic field is generated during the rotation of said second magnetic unit;

[0027] A second inductor, which is used to detect said second magnetic field, and outputs a second electrical signal as a function of said second magnetic field;

[0028] A second output device, which is used to output said second angle corresponding to the angle of rotation of said second gear as a function of said second electrical signal.

[0029] Optionally, said second magnetic unit is glued onto the end surface of said second gear located away from said motor housing, or

[0030] Said second magnetic unit is embedded in the end surface of said second gear away from said motor housing.

[0031] On the other hand, the present invention provides a robot roller leadscrew motor, which includes a motor stator, a motor rotor, an internal support structure, a motor housing and a motor leadscrew, said motor stator is fixedly connected to said internal support structure, said motor housing encloses the outside of said internal support structure, said motor rotor is movably connected to said internal support structure, said motor rotor is capable of rotating relative to said motor stator, a linear movement of said motor leadscrew is driven by the rotation of the motor rotor, said robot roller leadscrew motor also includes the sensing device indicated above.

[0032] The present invention relates to a device for detecting the displacement of a leadscrew of a roller leadscrew motor and a roller leadscrew motor of a robot, said roller leadscrew motor comprising a motor stator, a motor rotor, an internal support structure, a motor housing and a motor leadscrew, said detection device comprising: A first gear, a second gear, a first magnetic encoder and a second magnetic encoder, said first gear is fixedly connected to the end of said motor rotor and said first gear rotates with said motor rotor; said second gear is installed on said motor housing, said second gear and said first gear mesh and said second gear rotates under the drive of said first gear; said first magnetic encoder is installed on said first gear and is used to detect a first angle of said first gear.The second magnetic encoder is installed 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. The first angle, second angle, and the difference in the number of teeth between the first and second gears are used to determine the displacement of the leadscrew. In the present invention, the first angle of the first gear and the second angle of the second gear are detected, and the number of complete revolutions of the motor rotor can be obtained using the first angle, the second angle, and the difference in the number of teeth between the first and second gears. Thus, the actual rotation angle of the motor rotor, i.e., the total rotor angle, can be obtained. The total rotor angle corresponds to the displacement of the leadscrew.Therefore, the present invention solves the problem of inaccurate detection of the leadscrew displacement of the roller leadscrew motor caused by the impossibility of precise counting if the rotation of the motor rotor exceeds one full revolution according to existing technologies, and can improve the accuracy of the detection of the by moving the leadscrew of the roller leadscrew motor, the robot joints can be controlled more precisely. Description of the attached figures

[0033] The accompanying figures are incorporated into the present description and form part of the present description; these figures illustrate an embodiment of the present invention and are used together with the description to explain the principles of the present invention.

[0034] In order to set forth more clearly the incarnations of the present invention or the technical programs in existing technologies, the attached figures to be used in the descriptions of the incarnation or of existing technologies will be briefly described below; obviously ordinary technicians in this field can obtain other figures from these attached figures without any creative work.

[0035] [Fig-1] shows the cross-sectional diagram of the roller leadscrew motor of the embodiment of the present invention;

[0036] [Fig.2] shows the diagram of the structure of the roller leadscrew motor of the embodiment of the present invention;

[0037] In which, 1. Motor rotor; 2. The first gear; 3. The first magnetic encoder; 4. The second gear; 5. The second magnetic encoder; 6. Motor leadscrew. Specific implementation method

[0038] To make the objective, technical programs, and advantages of the present embodiment of the invention clearer, the technical programs in the present embodiment of the invention are described clearly and completely in conjunction with the figures attached to the present embodiment of the invention below. Obviously, the embodiments described are only some of the embodiments of the present invention and do not represent all of them. Based on the embodiments of the present invention, all other embodiments that ordinary technicians in this field can obtain without any creative work are within the scope of the present invention.

[0039] With reference to Figures 1 and 2, in the present embodiment of the present invention, said roller leadscrew motor comprises a motor stator, a motor rotor 1, an internal support structure, a motor housing and a motor leadscrew 6, said motor stator is fixedly connected to said internal support structure, said motor housing encloses the outside of said internal support structure, said motor rotor 1 is movably connected to said internal support structure, said motor rotor 1 can rotate relative to said motor stator, the rotation of said motor rotor 1 drives the linear movement of said motor leadscrew 6.

[0040] Said detection device comprises: a first gear 2, a second gear 4, a first magnetic encoder 3 and a second magnetic encoder 5,

[0041] Said first gear 2 is fixedly connected to the end of said motor rotor 1 and said first gear 2 rotates with said motor rotor 1;

[0042] Said second gear 4 is installed on said motor housing, said second gear 4 and said first gear 2 mesh and said second gear 4 rotates under the drive of said first gear 2;

[0043] Said first magnetic encoder 3 is installed on said first gear 2 and is used to detect the first angle of said first gear 2.

[0044] Said second magnetic encoder 5 is installed on said second gear 4, to detect the second angle of said second gear 4;

[0045] In which, the number of teeth of said first gear 2 is not equal to the number of teeth of said second gear 4;

[0046] Said first angle, second angle and the difference in number of teeth between the first gear and the second gear are used to obtain the displacement of said lead screw.

[0047] In the embodiment of the present invention, said motor rotor 1 can rotate relative to said motor stator, this rotation can be the rotation of the motor rotor 1 inside the motor stator, or the rotation of the motor rotor 1 outside the motor stator at that time, the motor stator is inside.

[0048] The displacement of the leadscrew of the roller leadscrew motor that the present invention can detect generally refers to a displacement of the motor leadscrew 6. The motor leadscrew 6 is connected to the motor rotor 1 by means of modes such as threads, etc., the motor leadscrew 6 is connected to the internal support structure, when the motor rotor 1 rotates, the rotary motion is converted into linear motion of the motor leadscrew 6 by means of modes such as threads, etc., therefore, the angle of rotation of the motor rotor 1 corresponds to the displacement of the motor leadscrew 6.

[0049] According to existing technologies, the magnetic encoder can detect the difference in angle of the motor rotor 1 relative to its starting position when it stops. However, if the rotation of the motor rotor 1 exceeds one full revolution, accurate counting will be impossible, resulting in inaccurate detection. For example, if the magnetic encoder detects that the motor rotor 1 rotates 90 degrees relative to its starting position when it stops, we cannot confirm whether the motor rotor 1 rotates 90 degrees or one full revolution plus 90 degrees; that is, we cannot confirm whether it rotates 90 degrees or 450 degrees. But the rotor of the roller leadscrew motor must eventually rotate more degrees so that the motor leadscrew has a relatively large displacement to achieve The goal is to control the movements of increasingly complex robot joints, meaning the motor rotor's rotation angle can potentially exceed 360 degrees. With existing technologies, simply using a magnetic encoder to detect the motor rotor angle makes it difficult to achieve high accuracy, thus hindering precise control of the robot joints.

[0050] In the embodiment of the present invention, when the motor rotor 1 rotates by one revolution, the first gear 2 installed on the motor rotor 1 also rotates by one revolution, for example, both rotate by 360 degrees, but as the number of teeth of the first gear 2 and the number of teeth of the second gear 4 are not equal and the first gear 2 and the second gear 4 mesh and rotate, therefore the second gear 4 also rotates, but the degree of rotation is not equal to 360 degrees.

[0051] 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 obtained. Assuming that the number of teeth of the first gear 2 is A and that the number of teeth of the second gear 4 is B, then if the first gear 2 rotates by M degrees and the second gear 4 rotates by M*A / B degrees.

[0052] Since the number of teeth of the first gear 2 and the number of teeth of the second gear 4 are known, each time the rotor of the motor 1 turns one revolution, the difference between the angle of rotation of the first gear 2 and the angle of rotation of the second gear 4 can be obtained, if the angle of rotation of the first gear 2 and the angle of rotation of the second gear 4 can be detected, the difference between the angle of rotation of the first gear 2 and the angle of rotation of the second gear 4 can be obtained, then the number of complete revolutions by which the rotor of the motor 1 has turned can be obtained.

[0053] In the embodiment of the present invention, said first angle, second angle and the difference in number of teeth between the first gear 2 and the second gear 4 are used to obtain the displacement of said lead screw.

[0054] In the embodiment of the present invention, the first gear 2 is installed at the end of the motor rotor 1, the second gear 4 is installed on the motor housing, the first gear 2 is installed at the end of the motor rotor 1, the second gear 4 is installed on the motor housing, the first gear 2 and the second gear 4 have different numbers of teeth and mesh. The first angle of the first gear 2 and the second angle of the second gear 4 are detected, and the number of complete revolutions of the rotation of the motor rotor 1 can be obtained using the first angle, the second angle and the difference in the number of teeth between the first gear 2 and the second gear 4, thus, the angle of The actual rotation of motor rotor 1 can be obtained. This solves the problem of inaccurate leadscrew displacement detection caused by the impossibility of precise counting if motor rotor 1's rotation exceeds one full revolution according to existing technologies. It can improve the accuracy of leadscrew displacement detection, thus allowing for more precise control of the robot joints.

[0055] In the embodiment of the present invention, said first angle, second angle and the difference in number of teeth between the first gear 2 and the second gear 4 are used to obtain the displacement of said lead screw.

[0056] In the embodiment of the present invention, assuming that the number of teeth of the first gear 2 is A, at the initial moment, the first angle output at the initial moment by said first magnetic encoder 3 is ElZero, the first angle output at the stopping moment by the first magnetic encoder 3 is El, thus the first angle of rotation is StEl-ElZero.

[0057] Similarly, if we assume 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, that is to say that the number of teeth of the second gear 4 is A+X. At the initial moment, the second angle output at the initial moment by said second magnetic encoder 5 is E2Zero, the second angle output at the stopping moment by the second magnetic encoder 5 is E2, thus the first angle of rotation is E2-E2Zero.

[0058] Ea is a parameter of the first magnetic encoder.

[0059] Thus, the first reference value

[0060] Ql=((El-ElZero)-(E2-E2Zero)) / (Ea / A / X).

[0061] The value Q1 rounded down to the nearest integer is Q, that is, the number of complete turns of the rotation.

[0062] The total rotor angle of the electronic rotor E = Q*Ea+El.

[0063] The expansion / displacement ratio of the lead screw is P, the maximum displacement of the roller lead screw is La, thus, the displacement of the lead screw L=La-E*P.

[0064] The number of complete revolutions of the motor rotor 1 can be obtained using the first angle, the second angle, and the difference in the number of teeth between the first gear 2 and the second gear 4. Subsequent processes, such as the movement of the leadscrew, etc., can be performed using simple elementary arithmetic such as addition, subtraction, multiplication, division, etc., in the formula above. Further elementary arithmetic operations can be performed by subsequent calculation circuits. These calculation circuits can be composed of basic circuit devices such as AND gates, NOT gates, amplifiers, counters, triggers, etc. or composed of other devices that can complete arithmetic operations, such as addition, subtraction, multiplication, division, or these computing circuits may be integrated circuit chips in existing technologies, or these computing circuits may be composed of several integrated circuit chips in existing technologies, or these computing circuits may be certain computing modules in the robot's main control chips in existing technologies, these contents will not be repeated here.

[0065] In the embodiment of the present invention, this subsequent calculation process is not carried out by computer software or a computer program.

[0066] In other embodiments of the present invention, this subsequent calculation process can be performed using existing computer software. The sole purpose of this process is to calculate the leadscrew displacement using the data detected in the embodiments of the present invention. The present invention protects the structure of the above-mentioned hardware and its improvements, but these subsequent calculations, which may be performed using existing computer software, do not improve the computer software that may be used.

[0067] In the embodiment of the present invention, the difference between the number of teeth of said first gear 2 and the number of teeth of said second gear 4 is 1.

[0068] The embodiment of the present invention has provided several structures of the first gear 2, the end surface of said first gear 2 is fixedly connected to the end of said rotor of the motor 1.

[0069] In the embodiment of the present invention, said first gear 2 comprises a first gear disc and a first gear shaft, said first gear shaft is installed in the center of said first gear disc, said first gear shaft is fixedly connected to said first gear disc, said first gear shaft is fixedly connected to the end of said motor rotor 1.

[0070] In the embodiment of the present invention, said first gear 2 comprises a third gear disc and a third sleeve, said third sleeve is arranged concentrically with said third gear disc, said third sleeve is fixedly connected to said third gear disc, the inner wall of said third sleeve is fixedly connected to the outer wall of the end of said motor rotor 1.

[0071] In the embodiment of the present invention, the structure of the first gear 2 also has several other forms, the fixed link between the first gear 2 and the rotor of the motor 1 also has several forms, these contents will not be repeated here.

[0072] In the embodiment of the present invention, said first magnetic encoder 3 comprises:

[0073] A first magnetic unit, said first magnetic unit is fixedly connected to said first gear 2, said first magnetic unit rotates with the rotation of the first gear 2, a first variable magnetic field is generated during the rotation of said first magnetic unit;

[0074] A first inductor, which is used to detect the variations of said first magnetic field, and outputs the first electrical signal which varies according to the variations of said first magnetic field;

[0075] A first output device, which is used to output said first angle corresponding to the angle of rotation of said first gear 2 as a function of said first electrical signal.

[0076] For the first magnetic encoder 3, we can adopt a magnetic encoder in existing technologies; also, devices having other forms and identical or similar functions can be adopted as well; these contents will not be repeated here.

[0077] In the embodiment of the present invention, as shown in [Fig. 2], said first magnetic unit is glued onto the end surface of said first gear 2 away from said motor housing, or

[0078] Said first magnetic unit is embedded in the end surface of said first gear 2 away from said motor housing.

[0079] In the embodiment of the present invention, said second gear 4 comprises a second gear disc and a second gear shaft, said second gear shaft is installed in the center of said second gear disc, said second gear shaft rotates around said second gear shaft, said second gear shaft is fixedly connected to said motor housing.

[0080] In the embodiment of the present invention, the structure of the second gear 4 also has several other forms, the link between the second gear 4 and the motor housing also has several forms, these contents will not be repeated here.

[0081] In the embodiment of the present invention, said second magnetic encoder 5 comprises:

[0082] A second magnetic unit, said second magnetic unit is fixedly connected to said second gear 4, said second magnetic unit rotates with the rotation of said second gear 4, a second variable magnetic field is generated during the rotation of said second magnetic unit;

[0083] A second inductor, which is used to detect the variations of said second magnetic field, and outputs the second electrical signal which varies according to the variations of said second magnetic field;

[0084] A second output device, which is used to output said second angle corresponding to the angle of rotation of said second gear 4 as a function of said second electrical signal.

[0085] For the second magnetic encoder 5, we can adopt a magnetic encoder in existing technologies; also, devices having other forms and identical or similar functions can be adopted as well; these contents will not be repeated here.

[0086] In the embodiment of the present invention, as shown in [Fig. 2], said second magnetic unit is glued to the end surface of said second gear 4 away from said motor housing, or

[0087] Said second magnetic unit is embedded in the end surface of said second gear 4 away from said motor housing.

[0088] In the embodiment of the present invention, the number of complete revolutions of the motor rotor 1 can be precisely detected using a pair of gears with different numbers of teeth that mesh together. Thus, the displacement of the leadscrew of the roller leadscrew motor can be precisely detected. This has several advantages, such as high accuracy, a simple structure, and low cost. Furthermore, in the embodiment of the present invention, a pair of gears with different numbers of teeth that mesh together and a magnetic encoder are used for detection; no additional sensors are required, which can reduce interference in the system.

[0089] The present invention also provides a robot roller leadscrew motor, which includes a motor stator, a motor rotor, an internal support structure, a motor housing and a motor leadscrew, said motor stator is fixedly connected to said internal support structure, said motor housing encloses the outside of said internal support structure, said motor rotor is movably connected to said internal support structure, said motor rotor can rotate relative to said motor stator, the linear motion of said motor leadscrew is driven by the rotation of the motor rotor, said robot roller leadscrew motor also includes the sensing device indicated above.

[0090] It is necessary to clarify that, in this document, relational terms such as "the first," "the second," etc., are used only to distinguish one entity or operation from another; these relational terms do not require or certainly imply any actual relationship or order among these entities or operations. Furthermore, the terms "include," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion; thus, a process, method, object, or piece of equipment that comprises a series of elements includes not only those elements but also the other elements. that are not explicitly listed or the inherent elements of that process, method, object, or equipment. Unless otherwise restricted, the elements defined by the phrase "includes a..." do not preclude the presence of other identical elements in processes, methods, objects, or equipment that include said elements.

[0091] The above description is merely one specific embodiment of the present invention, intended to enable technicians in this field to understand or carry out the present invention. For technicians in this field, modifications to several types of these embodiments are obvious; the general principles defined in this document can be implemented in other embodiments without departing from the scope of the present invention.

Claims

Demands

1. A device for detecting the displacement of a leadscrew of a robot roller leadscrew motor, characterized in that said roller leadscrew motor comprises a motor stator, a motor rotor (1), an internal support structure, a motor housing, and a motor leadscrew (6), said motor stator is fixedly connected to said internal support structure, said motor housing encloses the outside of said internal support structure, said motor rotor (1) is movably connected to said internal support structure, said motor rotor (1) is capable of rotating relative to said motor stator, a linear movement of said motor leadscrew (6) is driven by the rotation of the motor rotor (1), said detection device comprises: a first gear (2), a second gear (4), a first magnetic encoder (3), and a second magnetic encoder (5).said first gear (2) is fixedly connected to the end of said motor rotor (1) and said first gear (2) rotates with said motor rotor (1); said second gear (4) is installed on said motor housing, said second gear (4) and said first gear (2) mesh and said second gear (4) rotates under the drive of said first gear (2); said first magnetic encoder (3) is installed on said first gear (2) and is used to detect a first angle of said first gear (2); said second magnetic encoder (5) is installed on said second gear (4) to detect a second angle of said second gear (4); wherein the number of teeth of said first gear (2) is not equal to the number of teeth of said second gear (4); said first angle,The second angle and the difference in the number of teeth between said first gear (2) and said second gear (4) are used to obtain the displacement of said lead screw (6).

2. A detection device according to claim 1, characterized in that the end surface of the first gear (2) is fixedly connected to the end of the motor rotor (1).

3. Detection device according to claim 1, characterized in that said first gear (2) comprises a first gear disc and a first gear shaft, said first gear shaft is installed in the center of said first gear disc, said first gear shaft is fixedly connected to said first gear disc, said first gear shaft is fixedly connected to the end of said motor rotor (1).

4. Detection device according to claim 1, characterized in that said first gear (2) comprises a third gear disc and a third sleeve, said third sleeve is arranged concentrically with said third gear disc, said third sleeve is fixedly connected to said third gear disc, the inner wall of said third sleeve is fixedly connected to the outer wall of the end of said motor rotor (1).

5. A detection device according to claim 1, characterized in that said first magnetic encoder (3) comprises: a first magnetic unit, said first magnetic unit is fixedly connected to said first gear (2), said first magnetic unit rotates with the rotation of said first gear (2), a first variable magnetic field is generated during the rotation of said first magnetic unit; a first inductor, which is used to detect said first magnetic field, and outputs a first electrical signal as a function of the first magnetic field; a first output device, which is used to output said first angle corresponding to the angle of rotation of said first gear (2) as a function of said first electrical signal.

6. Detection device according to claim 5, characterized in that said first magnetic unit is glued to the end surface of said first gear (2) away from said motor housing, or said first magnetic unit is embedded in the end surface of said first gear (2) away from said motor housing.

7. A detection device according to claim 1, characterized in that said second gear (4) comprises a second gear disc and a second gear shaft, said second gear shaft is installed in the center of said second gear disc, said second gear shaft rotates around said second gear shaft, said second gear shaft is fixedly connected to said motor housing.

8. A detection device according to claim 1, characterized in that said second magnetic encoder (5) comprises: a second magnetic unit, said second magnetic unit is fixedly connected to said second gear, said second magnetic unit rotates with the rotation of said second gear (4), a second variable magnetic field is generated during the rotation of said second magnetic unit; a second inductor, which is used to detect said second magnetic field, and outputs a second electrical signal as a function of the second magnetic field; a second output device, which is used to output said second angle corresponding to the angle of rotation of said second gear (4) as a function of said second electrical signal.

9. Detection device according to claim 8, characterized in that said second magnetic unit is glued to the end surface of said second gear (4) away from said motor housing, or said second magnetic unit is embedded in the end surface of said second gear (4) away from said motor housing.

10. Robot roller leadscrew motor, characterized in that it comprises a motor stator, a motor rotor (1), an internal support structure, a motor housing and a motor leadscrew (6), said motor stator is fixedly connected to said internal support structure, said motor housing encloses the outside of said internal support structure, said motor rotor (1) is movably connected to said internal support structure, said motor rotor (1) is capable of rotating relative to said motor stator, a linear movement of said motor leadscrew (6) is driven by the rotation of the motor rotor (1), said robot roller leadscrew motor also comprises a sensing device according to any one of claims 1 to 9.