Rotational-speed measurement structure of actuator, and actuator

Abstract

Disclosed in the present invention are a rotational-speed measurement structure of an actuator, and an actuator. The rotational-speed measurement structure of an actuator comprises a housing, an electric motor, and a speed reduction mechanism. The electric motor comprises a stator and a rotor, wherein a shaft sleeve is connected to the rotor. An input end of the speed reduction mechanism is connected to the rotor, and an output end thereof is connected to an encoder shaft. A first mounting surface is provided on the encoder shaft, a second mounting surface is provided on the shaft sleeve, a first magnetic ring is fixed on the first mounting surface, and a second magnetic ring is fixed on the second mounting surface. A PCB is fixed on the housing, and comprises a third mounting surface. A first Hall element and a second Hall element are mounted on the third mounting surface. The first Hall element cooperates with the first magnetic ring to measure the rotation angle of the first magnetic ring so as to acquire the angle of the encoder shaft, and the second Hall element cooperates with the second magnetic ring to measure the rotation angle of the second magnetic ring so as to acquire the angle of the shaft sleeve. The present invention simplifies the internal structure of the actuator and improves the level of integration inside the actuator, thereby facilitating the optimization of the internal space of the actuator.

Description

Rotating speed detection structure of actuator and actuator TECHNICAL FIELD

[0001] The present application relates to the field of robot driving technology, and particularly relates to a rotating speed detection structure of actuator and actuator. BACKGROUND

[0002] The actuator is a component in the joint of a robot, which is used to provide power for the relative movement between two movable parts of the joint of the robot, and accurately control the movement angle of the two movable parts in the joint of the robot. In order to enable the joint of the robot to accurately execute relevant instructions, a detection structure is usually configured inside the actuator to detect the angle of relevant components inside the actuator, especially the angle of the output end. A motor and a speed reduction mechanism are usually arranged inside the actuator, and the speed reduction mechanism transmits the output power of the motor to the output end of the actuator. In order to control the angle of the output end, a rotating angle detection unit is usually configured at the output end of the motor (high-speed end of the actuator) and the output end of the actuator (low-speed end) respectively. In the prior art actuator, the high-speed end detection unit and the low-speed end detection unit are independently arranged, which occupies a large space inside the actuator and is not conducive to the miniaturization design of the size of the actuator. SUMMARY

[0003] The present application relates to the field of robot driving technology, and particularly relates to a rotating speed detection structure of actuator and actuator.

[0004] The technical scheme of the present application is as follows:

[0005] The rotating speed detection structure of the actuator comprises a housing, a motor, and a speed reduction mechanism.

[0006] The motor comprises a stator fixedly connected with the housing, and a rotor matched with the stator and capable of rotating relative to the stator. The rotor is synchronously connected with a shaft sleeve pivotally connected with the housing. The input end of the speed reduction mechanism is connected with the rotor, and the output end of the speed reduction mechanism is connected with a code disc shaft penetrating through the shaft sleeve and coaxially arranged with the shaft sleeve.

[0007] The first mounting surface is arranged on the code disc shaft, the second mounting surface is arranged on the shaft sleeve, the second mounting surface is located outside the first mounting surface in the radial direction of the actuator, the first magnetic ring is fixed on the first mounting surface, the second magnetic ring is fixed on the second mounting surface, and the center axes of the first magnetic ring and the second magnetic ring coincide with the center axis of the code disc shaft; the PCB board is fixed on the shell, the PCB board comprises the third mounting surface opposite to the first mounting surface and the second mounting surface, the first Hall element and the second Hall element are mounted on the third mounting surface, the first Hall element cooperates with the first magnetic ring to detect the rotation angle of the first magnetic ring to obtain the angle of the code disc shaft, and the second Hall element cooperates with the second magnetic ring to detect the rotation angle of the second magnetic ring to obtain the angle of the shaft sleeve.

[0008] Or the first Hall element cooperates with the first magnetic ring to detect the rotation speed of the first magnetic ring to obtain the angular velocity of the code disc shaft, and the second Hall element cooperates with the second magnetic ring to detect the rotation speed of the second magnetic ring to obtain the angular velocity of the shaft sleeve.

[0009] The rotation speed detection structure of the actuator according to the embodiment of the application can make the first magnetic ring and the second magnetic ring be located at the same position or approximately the same position in the axial direction of the actuator, and only one PCB board needs to be arranged on the shell to install two Hall elements matched with the two magnetic rings, that is, the Hall elements corresponding to the two magnetic rings share the same PCB board, so that the internal structure of the actuator is simplified, the integration of the actuator is improved, the optimization of the internal space of the actuator is facilitated, and the low-speed end detection and the high-speed end detection of the actuator are arranged in the same region in the actuator.

[0010] In the preferred embodiment, the first annular support is detachably fixed on the code disc shaft, the second annular support is detachably fixed on the shaft sleeve and surrounds the periphery of the first annular support, the top surface of the first annular support forms the first mounting surface, and the top surface of the second annular support forms the second mounting surface. The first magnetic ring and the second magnetic ring are arranged on the first annular support and the second annular support respectively, and the first annular support and the second annular support are detachably fixed on the code disc shaft and the shaft sleeve respectively, so that the assembly and maintenance of the actuator are facilitated.

[0011] In the preferred embodiment, the top surface of the first annular support is provided with a first annular groove recessed downward, the thickness of the first magnetic ring is the same as the depth of the first annular groove and is embedded in the first annular groove; the top surface of the second annular support is provided with a second annular groove recessed downward, the thickness of the second magnetic ring is the same as the depth of the second annular groove and is embedded in the second annular groove, and the upper surface of the first magnetic ring is flush with the upper surface of the second magnetic ring. Since the first magnetic ring and the second magnetic ring are respectively installed in the top surface of the first annular support and the top surface of the second annular support in a sunken manner, the first annular support and the second annular support have a relatively small gap with the PCB board, and since the two magnetic rings are staggered in the radial direction of the actuator and the upper surfaces of the two magnetic rings are flush in the axial direction of the actuator, the space occupied by the entire rotational speed detection structure in the axial direction of the actuator is further reduced.

[0012] In the preferred embodiment, a fixing seat is sleeved on the code disc shaft, a set screw is screwed on the fixing seat, the inner end of the set screw is embedded in the screw hole provided on the code disc shaft, and the first annular support is sleeved on the fixing seat and threadedly cooperates with the fixing seat. By providing the fixing seat on the code disc shaft, the part of the code disc shaft for installing the first annular support has a relatively large outer diameter. Since the diameter of the code disc shaft is smaller than the diameter of the shaft sleeve, after the diameter is increased by the fixing seat, the first annular support can be as close as possible to the second annular support in the radial direction of the actuator, thereby making the first mounting surface closer to the second mounting surface, and the interval distance between the first magnetic ring and the second magnetic ring in the radial direction of the actuator is relatively small, so that a small-size PCB board can meet the installation of the two Hall elements, and the space occupied by the PCB board can be further reduced, which is beneficial to the optimization of the space inside the actuator. The first magnetic ring and the first annular support are assembled into an assembly, and the assembly is screwed with the code disc shaft, so that the assembly of the actuator is simple and convenient.

[0013] In the preferred embodiment, the second annular support is sleeved on the top of the shaft sleeve and threadedly cooperates with the shaft sleeve.

[0014] In the preferred embodiment, the housing includes an outer side wall, a top wall extending inwardly from the top of the outer side wall in the radial direction of the actuator, and a support wall extending downwardly from the inner edge of the top wall, the support wall and the side wall form a mounting space, the motor is arranged in the mounting space, the stator is fixedly connected to the periphery of the support wall, and the rotor surrounds the periphery of the stator; the PCB board is fixedly connected to the top wall so that the PCB board is located above the first mounting surface and the second mounting surface. The outer side wall, the top wall and the support wall make the housing form a U-shaped structure in cross section, provide a mounting space for the motor, and protect the motor well. At the same time, the top wall provides a mounting basis for the PCB board, facilitating the installation of the PCB board.

[0015] In the preferred embodiment, the top wall is fixedly connected with a mounting disc, the upper surface of the mounting disc is provided with an annular convex rib protruding upward, and the outer edge of the PCB board is circular and abuts against the inner edge of the annular convex rib. The annular convex rib is used to position the PCB board in the radial direction of the actuator, so that the two Hall elements preassembled on the PCB board can be aligned with the two magnetic rings in the radial direction of the actuator, thereby ensuring the rotational speed detection of the low-speed end and the high-speed end of the actuator to have better accuracy on the basis of improving the mounting accuracy of the PCB board.

[0016] In the preferred embodiment, the speed reduction mechanism is a harmonic reducer, the steel wheel of the harmonic reducer is fixedly matched with the shell, the wave generator of the harmonic reducer is connected to the bottom of the rotor through a connecting bracket, the flexible wheel of the harmonic reducer is fixedly connected with an output flange which is pivoted to the shell through a bearing, and the bottom of the code disc shaft is fixedly connected with the output flange; the top of the code disc shaft is pivoted to a fixed bracket through a bearing. The upper and lower ends of the code disc shaft are pivoted to the shell through bearings, the bearings provide radial support for the code disc shaft, so that the rotation of the code disc shaft is more stable, thereby improving the accuracy of the low-speed end rotational speed detection.

[0017] In the preferred embodiment, the lower end of the shaft sleeve is fixedly connected to the connecting bracket through a bolt, so that the shaft sleeve is synchronously connected with the rotor; the shaft sleeve is located on the inner side of the support wall and is pivoted to the support wall through a bearing. The support wall and the bearing provide radial support for the shaft sleeve, so that the rotation of the shaft sleeve is more stable, thereby improving the accuracy of the high-speed end rotational speed detection.

[0018] The actuator comprises the rotational speed detection structure of the actuator. BRIEF DESCRIPTION OF DRAWINGS

[0019] Fig. 1 is a structural schematic view of the present application;

[0020] Fig. 2 is a sectional view of the present application;

[0021] Fig. 3 is an enlarged view of A in Fig. 2;

[0022] Fig. 4 is an assembly schematic view of the two magnetic rings, the first annular support and the second annular support in Fig. 2;

[0023] Fig. 5 is a structural schematic view of the mounting disc in Fig. 2. DETAILED DESCRIPTION

[0024] In the following, the present application will be further described in conjunction with the drawings and specific embodiments.

[0025] Please refer to the executioner's rotating speed detection structure shown in FIG. 1-5, which comprises a shell 10, a motor 20, a speed reduction mechanism, the motor 20 and the speed reduction mechanism are installed inside the shell 10, wherein the speed reduction mechanism is a harmonic reducer 60, the motor 20 comprises a stator 22 and a rotor 21, the stator 22 is fixedly matched with the shell 10, the rotor 21 is matched with the stator 22 and surrounds the periphery of the stator 22, thus the rotor 21 and the stator 22 form a frameless torque motor; a shaft sleeve 40 is synchronously connected to the rotor 21, the input end of the harmonic reducer 60 is connected to the rotor 21, that is, the wave generator 62 of the harmonic reducer 60 is connected to the rotor 21, the flexspline 63 of the harmonic reducer 60 serves as the output end, a code disc shaft 30 is connected to the flexspline 63, the code disc shaft 30 is coaxially arranged in the inside of the shaft sleeve 40 and is pivotally matched with the shell 10, the code disc shaft 30 extends from the lower end of the executioner to the top of the executioner through the whole axial direction of the executioner, a first mounting surface 311 is arranged on the code disc shaft 30, a second mounting surface 411 is arranged on the shaft sleeve 40, a first magnetic ring 81 is fixedly connected to the first mounting surface 311, a second magnetic ring 82 is fixedly connected to the second mounting surface 411, the first magnetic ring 81 and the second magnetic ring 82 are at the same height or almost at the same height, and the central axes of the first magnetic ring 81 and the second magnetic ring 82 are both coincident with the central axis of the code disc shaft 30; a PCB board 50 is fixed to the shell 10, the PCB board 50 has a third mounting surface 501 opposite to the first mounting surface 311 and the second mounting surface 411, a first Hall element and a second Hall element are mounted on the third mounting surface 501, the first Hall element is matched with the first magnetic ring 81, the rotation angle of the first magnetic ring 81 is detected by the cooperation of the first Hall element and the first magnetic ring 81 to obtain the angle of the code disc shaft 30, and then the angle of the output end (i.e. the low speed end) of the executioner is obtained, the second Hall element is matched with the second magnetic ring 82, the rotation angle of the second magnetic ring 82 is detected by the cooperation of the second Hall element and the second magnetic ring 82 to obtain the angle of the shaft sleeve 40, and then the angle of the rotor 21 (i.e. the high speed end) of the motor 20 is obtained.

[0026] Taking the first Hall element and the first magnetic ring 81 as an example, the first Hall element detects the change of the magnetic field when the first magnetic ring 81 rotates, and the angle information is calculated, and then the absolute angle of the first magnetic ring is obtained; the Hall element usually adopts pulse counting method to detect the angular velocity of the magnetic ring: ω = 2πf / N (ω is the angular velocity; f is the pulse frequency; N is the number of magnetic ring pole pairs), and then the absolute angle of the magnetic ring rotation is calculated by using the angular velocity. The process of using the Hall element and the magnetic ring to obtain the angle, angular velocity and other parameters of the magnetic ring rotation is well known to those skilled in the art, and will not be described in detail here.

[0027] In other embodiments, the rotation speed of the first magnetic ring 81 can be detected by the first Hall element cooperating with the first magnetic ring 81 to obtain the angular velocity of the code disc shaft 30, and then the angle or angular velocity of the low-speed end is obtained, and the rotation speed of the second magnetic ring 82 can be detected by the second Hall element cooperating with the second magnetic ring 82 to obtain the angular velocity of the sleeve 40, and then the angle or angular velocity of the rotor 21 of the motor 20 (i.e. the high-speed end) is obtained.

[0028] Since the first mounting surface 311 for mounting the first magnetic ring 81 and the second mounting surface 411 for mounting the second magnetic ring 82 are arranged on the code disc shaft 30 and the sleeve 40 which are arranged in each other, the first magnetic ring 81 and the second magnetic ring 82 are arranged at the same position or approximately the same position in the axial direction of the actuator, and only one PCB 50 is arranged on the housing 10, so that two Hall elements respectively cooperating with the two magnetic rings are arranged, i.e. the Hall elements corresponding to the two magnetic rings share the same PCB, which simplifies the internal structure of the actuator, improves the integration of the actuator, is beneficial to the optimization of the internal space of the actuator, and in addition, the low-speed end detection and the high-speed end detection of the actuator are arranged in the same region in the actuator, which facilitates the arrangement of internal wiring.

[0029] The speed reduction mechanism of the present application is not limited to the harmonic reducer 60 described above, and the speed reduction mechanism can also be a planetary reducer or an RV reducer. The motor 20 can also be a frameless torque motor with a built-in rotor or other structural forms of motor.

[0030] The first annular support 31 is detachably fixed on the code disc shaft 30, and the second annular support 41 surrounding the periphery of the first annular support 31 is detachably fixed on the sleeve 40, the top surface of the first annular support 31 forms the first mounting surface 311, and the top surface of the second annular support 41 forms the second mounting surface 411; in this preferred embodiment, the first annular support 31 and the second annular support 41 are detachably fixed on the code disc shaft 30 and the sleeve 40, respectively, and the first magnetic ring 81 and the second magnetic ring 82 are arranged on the first annular support 31 and the second annular support 41, respectively, which facilitates the assembly and maintenance of the actuator.

[0031] Further, a fixing seat 32 is sleeved on the code disc shaft 30, a clamping screw 33 is screwed on the fixing seat 32, the clamping screw 33 extends along the radial direction of the code disc shaft 30, the inner end of the clamping screw 33 is embedded into the screw hole arranged on the code disc shaft 30, the outer periphery of the fixing seat 32 is provided with external threads, the inner periphery of the first annular support 31 is provided with internal threads, the first annular support 31 is fixed on the outer periphery of the fixing seat 32 through the cooperation of the internal threads and the external threads; by arranging the fixing seat 32 on the code disc shaft 30, the part of the code disc shaft 30 for mounting the first annular support 31 has a relatively large outer diameter, since the diameter of the code disc shaft 30 is smaller than the diameter of the shaft sleeve 40, after the diameter is increased through the fixing seat 32, in the radial direction of the actuator, the first annular support 31 can be as close to the second annular support 41 as possible, and then the first mounting surface 311 is closer to the second mounting surface 411, the interval distance of the first magnetic ring 81 and the second magnetic ring 82 in the radial direction of the actuator is relatively small, only a small size PCB board 50 can meet the installation of two Hall elements, the space occupied by the PCB board 50 can be further reduced, which is beneficial to the optimization of the space inside the actuator.

[0032] The second annular support 41 described above can also be fixed to the shaft sleeve 40 in a threaded cooperation manner, specifically, external threads are arranged on the top of the outer periphery of the shaft sleeve 40, internal threads are arranged on the inner periphery of the second annular support 41, and the second annular support 41 is screwed on the top of the shaft sleeve 40 through the cooperation of the internal threads and the external threads. In the present application, the first annular support 31 is detachably fixed on the code disc shaft 30 or the fixing seat 32 of the code disc shaft 30 through threads, the second annular support 41 is detachably fixed on the shaft sleeve 40 through threads, when assembling, the first magnetic ring 81 and the first annular support 31 are assembled into an assembly, the second magnetic ring 82 and the second annular support 41 are assembled into an assembly, the two assemblies are respectively assembled from the upper part of the actuator to the code disc shaft 30 and the shaft sleeve 40, then the PCB board 50 with two Hall elements is covered on the first annular support 31 and the second annular support 41 from top to bottom, so as to ensure that the two Hall elements correspond to the two magnetic rings respectively, in this way, the assembly of the actuator becomes simple and convenient.

[0033] In order to further optimize the axial space of the actuator, a first annular groove 312 recessed downward is arranged on the top surface of the first annular support 31, the first magnetic ring 81 is embedded in the first annular groove 312, and the thickness of the first magnetic ring 81 is the same as the depth of the first annular groove 312, so that the first magnetic ring 81 does not protrude from the top surface of the first annular support 31; similarly, a second annular groove 412 recessed downward is arranged on the top surface of the second annular support 41, the second magnetic ring 82 is embedded in the second annular groove 412, and the thickness of the second magnetic ring 82 is the same as the thickness of the second annular groove 412, so that the second magnetic ring 82 does not protrude from the top surface of the second annular support 41. The top surface of the first annular support 31 is flush with the top surface of the second annular support 41, and the above structure cooperates to make the upper surface of the first magnetic ring 81 flush with the upper surface of the second magnetic ring 82; since the first magnetic ring 81 and the second magnetic ring 82 are respectively installed in a sunken manner on the top surface of the first annular support 31 and the top surface of the second annular support 41, the first annular support 31 and the second annular support 41 have a relatively small gap with the PCB 50, and since the two magnetic rings are staggered in the radial direction of the actuator and the upper surfaces of the two magnetic rings are arranged flush in the axial direction of the actuator, the space occupied by the entire rotation speed detection structure in the axial direction of the actuator is further reduced.

[0034] It should be particularly emphasized that in the present application, the first mounting surface 311 can also be directly arranged on the code disc shaft 30, and the second mounting surface 411 can also be directly arranged on the shaft sleeve 40.

[0035] The shell 10 includes an outer side wall 11, a top wall 12, and a support wall 13, wherein the top wall 12 extends inward in the radial direction of the actuator from the top of the outer side wall 11, and the support wall 13 extends downward from the inner edge of the top wall 12, forming a mounting space between the support wall 13 and the outer side wall 11, in which the motor 20 is arranged, the stator 22 of the motor 20 is fixedly sleeved on the periphery of the support wall 13, and the rotor 21 is arranged between the stator 22 and the outer side wall 11 and surrounds the periphery of the stator 22, and the PCB 50 is fixedly connected to the top wall 12, so that the PCB 50 is fixed to the shell 10 and located above the first mounting surface 311 and the second mounting surface 411. The outer side wall 11, the top wall 12, and the support wall 13 form a U-shaped structure in cross section, providing a mounting space for the motor 20 and protecting the motor 20, and the top wall 12 provides a mounting basis for the PCB 50, facilitating the installation of the PCB 50.

[0036] In order to further improve the convenience of installation, the top wall 12 is fixedly connected with a mounting disc 14, the upper surface of the mounting disc 14 is provided with an annular convex rib 141 protruding upward, the outer edge of the PCB 50 is circular, the PCB 50 is placed on the upper surface of the mounting disc 14, and the outer edge of the PCB 50 is abutted against the inner edge of the annular convex rib 141, the annular convex rib 141 is used for positioning the PCB 50 in the radial direction of the actuator, so that the two Hall elements preinstalled on the PCB 50 can be aligned with the two magnetic rings in the radial direction of the actuator, thereby ensuring that the detection of the low-speed end and the high-speed end of the actuator has good accuracy on the basis of improving the mounting accuracy of the PCB 50.

[0037] The harmonic reducer 60 comprises a wave generator 62, a steel wheel 61 and a flexible wheel 63, the steel wheel 61 is fixedly connected with the shell 10, the wave generator 62 is connected to the bottom of the rotor 21 through a connecting bracket 23, the flexible wheel 63 is fixedly connected with an output flange 64, the output flange 64 is pivotally connected to a lower shell 70 fixedly connected with the shell 10 through a bearing 71, the steel wheel 61 can be clamped and fixed between the lower shell 70 and the shell 10 so as to be fixedly connected with the shell 10, the bottom of the code disc shaft 30 is fixedly connected with the output flange 64 through bolts; the top of the code disc shaft 30 is pivotally connected with a fixed bracket 15 fixedly connected with the top of the shell 10 through a bearing 16, so that the upper and lower ends of the code disc shaft 30 are pivotally connected with the shell 10 through the bearing 16 and the bearing 71 respectively, the bearing 16 and the bearing 71 provide radial support for the code disc shaft 30, so that the rotation of the code disc shaft 30 is more stable, thereby improving the accuracy of low-speed end detection.

[0038] The lower end of the shaft sleeve 40 is fixedly connected with the connecting bracket 23 through bolts, so that the shaft sleeve 40 is synchronously connected with the rotor 21, the shaft sleeve 40 is located on the inner side of the supporting wall 13, and the shaft sleeve 40 is pivotally connected with the supporting wall 13 through a bearing 42, the supporting wall 13 and the bearing 42 provide radial support for the shaft sleeve 40, so that the rotation of the shaft sleeve 40 is more stable, thereby improving the accuracy of high-speed end detection.

[0039] The actuator of the application comprises the rotation speed detection structure of the actuator, and other structures of the actuator are the same as those of the prior art, which will not be described in detail.

Claims

1. A rotational speed detection structure for an actuator, characterized in that, The utility model provides an actuator, including shell, motor, reduction mechanism, The motor includes a stator fixedly matched with the shell, a rotor matched with the stator and capable of rotating relative to the stator, and a shaft sleeve pivotally matched with the shell synchronously connected to the rotor, the input end of the reduction mechanism is connected with the rotor, and the output end of the reduction mechanism is connected with a code disc shaft penetrating through the shaft sleeve and coaxially arranged with the shaft sleeve; A first mounting surface is arranged on the code disc shaft, a second mounting surface is arranged on the shaft sleeve, in the radial direction of the actuator, the second mounting surface is located outward of the first mounting surface, a first magnetic ring is fixed on the first mounting surface, a second magnetic ring is fixed on the second mounting surface, the central axis of the first magnetic ring and the central axis of the second magnetic ring are coincident with the central axis of the code disc shaft, a PCB board is fixed on the shell, the PCB board includes a third mounting surface facing the first mounting surface and the second mounting surface, a first Hall element and a second Hall element are mounted on the third mounting surface, the first Hall element detects the rotation angle of the first magnetic ring in cooperation with the first magnetic ring to obtain the angle of the code disc shaft, and the second Hall element detects the rotation angle of the second magnetic ring in cooperation with the second magnetic ring to obtain the angle of the shaft sleeve.

2. A rotation speed detecting structure of an actuator, characterized by comprising: The utility model provides an actuator, including shell, motor, reduction mechanism, The motor includes a stator fixedly matched with the shell, a rotor matched with the stator and capable of rotating relative to the stator, and a shaft sleeve pivotally matched with the shell synchronously connected to the rotor, the input end of the reduction mechanism is connected with the rotor, and the output end of the reduction mechanism is connected with a code disc shaft penetrating through the shaft sleeve and coaxially arranged with the shaft sleeve; A first mounting surface is arranged on the code disc shaft, a second mounting surface is arranged on the shaft sleeve, in the radial direction of the actuator, the second mounting surface is located outward of the first mounting surface, a first magnetic ring is fixed on the first mounting surface, a second magnetic ring is fixed on the second mounting surface, the central axis of the first magnetic ring and the central axis of the second magnetic ring are coincident with the central axis of the code disc shaft, a PCB board is fixed on the shell, the PCB board includes a third mounting surface facing the first mounting surface and the second mounting surface, a first Hall element and a second Hall element are mounted on the third mounting surface, the first Hall element detects the rotation angle of the first magnetic ring in cooperation with the first magnetic ring to obtain the angle of the code disc shaft, and the second Hall element detects the rotation angle of the second magnetic ring in cooperation with the second magnetic ring to obtain the angle of the shaft sleeve.

3. The rotation speed detection structure for an actuator according to claim 1 or 2, wherein The first annular support is detachably fixed on the code disc shaft, the second annular support is detachably fixed on the shaft sleeve and surrounds the periphery of the first annular support, the top surface of the first annular support forms the first mounting surface, and the top surface of the second annular support forms the second mounting surface.

4. The rotation speed detection structure for an actuator according to claim 3, wherein A first annular groove recessed downward is arranged on the top surface of the first annular support, the thickness of the first magnetic ring is the same as the depth of the first annular groove, and the first magnetic ring is embedded in the first annular groove; A second annular groove recessed downward is arranged on the top surface of the second annular support, the thickness of the second magnetic ring is the same as the depth of the second annular groove, and the second magnetic ring is embedded in the second annular groove, and the upper surface of the first magnetic ring is flush with the upper surface of the second magnetic ring.

5. The rotation speed detecting structure of an actuator according to claim 3, wherein A fixing seat is sleeved on the code disc shaft, a set screw is screwed on the fixing seat, the inner side end of the set screw is embedded into a screw hole arranged on the code disc shaft, and the first annular support is sleeved on the fixing seat and threadedly matched with the fixing seat.

6. The rotation speed detecting structure of an actuator according to claim 3, wherein The second annular support is sleeved on the top of the shaft sleeve and is screwed with the shaft sleeve.

7. The rotation speed detection structure for an actuator according to claim 1 or 2, wherein The housing comprises an outer side wall, a top wall extending radially inward of the actuator from the top of the outer side wall, and a support wall extending downward from the inner edge of the top wall, a mounting space being formed between the support wall and the side wall, the motor being disposed in the mounting space, the stator being fixedly connected to the periphery of the support wall, and the rotor being arranged around the periphery of the stator; The PCB is fixedly connected to the top wall so as to be located above the first mounting surface and the second mounting surface.

8. The rotation speed detecting structure of an actuator according to claim 7, wherein An installation disc is fixedly connected to the top wall, an annular convex rib being provided on the upper surface of the installation disc and protruding upward, the outer edge of the PCB being circular and abutting against the inner edge of the annular convex rib.

9. The rotation speed detecting structure of an actuator according to claim 7, wherein The speed reduction mechanism is a harmonic reducer, the steel wheel of the harmonic reducer being fixedly connected to the housing, the wave generator of the harmonic reducer being connected to the bottom of the rotor through a connecting bracket, an output flange being fixedly connected to the flexible wheel of the harmonic reducer and being pivotally connected to the housing through a bearing, the bottom of the code disc shaft being fixedly connected to the output flange; a fixed bracket is fixedly connected to the top of the top wall, and the top of the code disc shaft is pivotally connected to the fixed bracket through a bearing.

10. The rotation speed detecting structure of an actuator according to claim 9, wherein The lower end of the shaft sleeve is fixedly connected to the connecting bracket through bolts so as to be synchronously connected with the rotor; the shaft sleeve is located on the inner side of the support wall and is pivotally connected to the support wall through a bearing.

11. An actuator characterized by, The rotational speed detection structure of the actuator of any one of claims 1-10.

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