CN212536548U - Servo steering engine capable of outputting high-precision position information - Google Patents

Abstract

The utility model relates to the field of intelligent robots, in particular to a servo steering engine for outputting high-precision position information, which comprises a second angle sensor consisting of a Hall plate and a feedback magnet which correspond to each other, wherein the first angle sensor consists of a Hall sensor and a first Hall magnet which correspond to each other, thereby solving the problem that the angle of a flange plate and the angle of a motor cannot be detected simultaneously by adopting double Hall sensors; the second angle sensor only comprises the Hall plate and the feedback magnet which correspond to each other, the volume thickness of the second angle sensor is less than that of the traditional grating disk structure, and therefore the problem that the product is difficult to process due to the adoption of the grating disk in the background art is solved through the second angle sensor instead of the grating disk.

Description

Servo steering engine capable of outputting high-precision position information

Technical Field

The utility model relates to an intelligent robot field indicates a servo steering wheel of output high accuracy positional information especially.

Background

In the design of an articulated robot, an integrated steering engine joint module is a core technology, wherein a harmonic speed reducer and a planetary speed reducer are two speed reducing mechanisms which are commonly used, in order to ensure high-speed and high-precision output, a power unit usually adopts a brushless servo motor, in the application of paying attention to cost, the planetary speed reducer has irreplaceable advantages, and in the planetary collocation with small speed reducing ratio, a disc type outer rotor servo motor is large in output torque and small in inertia. The single-stage planetary reduction mechanism and the disc type outer rotor motor are combined into an advantageous combination of the low-cost steering engine.

The large-torque servo motor can be divided into a concentric type and an offset type according to the positions of the axial center of the motor and the axial center of the speed reducer;

the motor is decelerated by a single-stage planetary speed reducing mechanism at a high speed to obtain expected low-speed large-torque output, at least two angle detection circuits and structural designs are needed in the control of a high-precision servo motor on the occasions of joints or occasions with higher requirements on position precision, one angle detection circuit is used for feeding back the relative position of a stator and a rotor of the motor in the rotation control of the motor, the other angle detection circuit is used for detecting the mechanical angle output after deceleration, and the rotation angle of an output flange relative to a shell or a client static coordinate is fed back.

The existing angle sensing device generally adopts a mature Hall circuit as shown in FIG. 8 or a grating disk circuit as shown in FIG. 9, the disk type outer rotor motor and a single-stage planetary reduction mechanism are shown in FIG. 9, it can be obtained from FIG. 9 that a motor shaft on the disk type outer rotor motor and an output end of the planetary reduction mechanism are positioned on the same central axis, according to the existing Hall sensor (the main control circuit of the Hall sensor is a Hall circuit, the Hall sensor and the Hall magnet are correspondingly matched), the acquisition end needs to be overlapped with the central axis on the Hall magnet, and the acquisition end needs to be not hollow with the Hall magnet, therefore, the adoption of two Hall sensors can not easily carry out real-time measurement on the motor angle and the mechanical angle after the speed reduction under the concentric structure of the disk type outer rotor motor and the planetary reduction mechanism, therefore, the existing structural design generally abandons the measurement on the mechanical angle after the speed reduction, only the detection of the motor angle is reserved, so that the real angle position output of the flange plate cannot be obtained.

According to the limitation of the structural characteristics, the traditional design method cannot reduce the thickness of the steering engine under the condition of considering the cost, and cannot simultaneously read the angle information of the motor and the true angle information of the flange plate under the condition of severe environment. The Hall sensor has the advantages of thin thickness, small occupied space and simple installation structure, but the Hall sensor and the Hall magnet are concentric and are not hollow.

The grating code disc has the characteristics of high precision, hollow middle part and thick reading head, and has the defects of incapability of being thinned and fragile, and easy failure after being polluted; in the design of a concentric integrated mechanism of a disc type outer rotor servo motor and a single-stage planetary reduction mechanism, space and structural characteristics are not allowed, and the traditional combination mode is that a grating hollow mechanism is used for motor rotation detection, a target is led into the rear end by a rigid body and passes through a grating coding disc hollow structure to reach the output end, and the target position detection of the reduction gear is performed. The volume of the middle sun gear mechanism is small in the planetary structure design, the sun gear needs to be subjected to perforation design for transmitting tail end low-speed position information to the circuit board, and the processing and installation difficulty is high.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem, the utility model provides an output high accuracy positional information's servo steering wheel aims at solving the problem that adopts the grating dish to lead to the processing degree of difficulty of product big and adopt two hall sensor can't detect ring flange angle and motor angle simultaneously easily among the background art.

In order to achieve the above object, the utility model discloses a technical scheme is a servo steering wheel of output high accuracy positional information, includes first angle sensor, planetary reducer, ring flange, first angle sensor includes mutual hall sensor and the first hall magnet that corresponds, planetary reducer includes:

the output end of the reduction gear set is connected with the flange plate;

the support is internally provided with a rotor and a stator which correspond to each other, the rotor is connected with an input gear of the reduction gear set, and the first Hall magnet is arranged on the rotor;

and the second angle sensor comprises a Hall plate and a feedback magnet which correspond to each other, and the feedback magnet is arranged on the flange plate.

Furthermore, the bearing also comprises a crossed roller bearing which is embedded in the shell and bears the flange plate.

Furthermore, the magnetic conduction device also comprises a magnetic conduction ring which is arranged in the bracket and wraps the rotor and the stator.

Further, the planetary reducer further comprises a conductor post, the planetary reducer further comprises a motor drive board and a drive CPU in control connection with the motor drive board, the second angle sensor comprises a Hall board drive board and a Hall board CPU in control connection with the Hall board, the motor drive board is electrically connected with the Hall board drive board through the conductor post, and a gap is formed between the motor drive board and the Hall board drive board.

Furthermore, the motor driving board comprises a driving circuit, a control terminal and a power-off circuit, wherein the control terminal of the control terminal is connected with the input ends of the driving circuit and the power-off circuit in a control mode, and the control circuit of the power-off circuit is connected with the input end of the driving circuit.

Furthermore, reduction gear set includes the planet carrier and sets up sun gear, ring gear, planet wheel in the planet carrier, sun gear and rotor coaxial coupling, sun gear and planet wheel meshing, planet wheel and ring gear meshing, have the planet axle of being connected with the ring flange on the planet wheel.

Further, still compress tightly the lid and inside drive housing that has accommodation space including the bearing, first angle sensor, planetary reducer, ring flange, cross roller bearing all set up in drive housing, and the drive housing is the opening with the tip that the ring flange is adjacent, the opening outwards extends has the side to have the connecting portion of female screw thread, and the bearing compresses tightly the inner of lid and is equipped with the male screw thread, the bearing compress tightly the lid with connecting portion threaded connection.

Furthermore, a base corresponding to the inner gear ring is arranged in the driving shell, the side surface of the base extends towards the central axis direction of the inner gear ring, and the inner gear ring abuts against the abutting portion.

Further, the side face of the abutting portion adjacent to the ring gear has a gap, and the gap is filled with an adhesive.

Further, still include the adapter, the adapter sets up between hall board drive plate and motor drive plate.

The beneficial effects of the utility model reside in that:

1. the utility model discloses include the second angle sensor that hall plate and feedback magnet that correspond each other are constituteed, first angle sensor comprises hall sensor and the first hall magnet that corresponds each other, has solved the unable problem that detects ring flange angle and motor angle detection simultaneously of adoption two hall sensor.

2. The second angle sensor only comprises the Hall plate and the feedback magnet which correspond to each other, the volume thickness of the second angle sensor is less than that of the traditional grating disk structure, and therefore the problem that the product is difficult to process due to the adoption of the grating disk in the background art is solved through the second angle sensor instead of the grating disk.

Drawings

Fig. 1 is a sectional view of the present invention.

Fig. 2 is an enlarged schematic view of the position B of the present invention.

Fig. 3 is an enlarged schematic view of the position a of the present invention.

Fig. 4 is an exploded view of the present invention.

Fig. 5 is an exploded view of another aspect of the present invention.

Fig. 6 is a diagram of another embodiment of the present invention.

Fig. 7 is an enlarged schematic view at C of fig. 6.

FIG. 8 is a diagram of the position relationship between a Hall sensor and a Hall magnet in the prior art;

fig. 9 is a prior art grating disk structure pattern.

The reference numbers illustrate: 1-a stator support; 2-an abutment; 3-a magnetic conductive ring; 4-a stator; 5-a drive plate protective cover; 6-motor drive plate; 7-bearing hold down cap; 8-an adapter; 9-Hall plate; 10-sun gear; 11-a rotor; 12-a bearing; 13 a planet carrier; 14-a flange plate; 15-a planet wheel; 16-a connecting part; 17-planet axis; 18-crossed roller bearings; 21-ring gear; 22-a first hall magnet; 23-a hall sensor; 24-a linear hall element; 25-a feedback magnet; 26-a conductor column; 27-a notch; 28-hall plate drive plate; 29-rotor support. 30-a gap;

Detailed Description

Referring to fig. 1-5, the present invention relates to a servo steering engine for outputting high-precision position information, which comprises a first angle sensor, a planetary reducer, and a flange 14, wherein the first angle sensor comprises a hall sensor 23 and a first hall magnet 22 corresponding to each other, and the planetary reducer comprises:

the output end of the reduction gear set is connected with the flange plate 14;

the support, there are rotor 11 and stator 4 corresponding to each other in its inside, the rotor 11 is connected with input gear of the reduction gear train, the first Hall magnet 22 is set up on the rotor 11;

and the second angle sensor comprises a Hall plate 9 and a feedback magnet 25 which correspond to each other, and the feedback magnet 25 is arranged on the flange plate 14.

The utility model discloses a theory of use as follows:

in the embodiment of the body, the feedback magnet 25 is arc-shaped, the hall plate 9 is ring-shaped, and meanwhile, the hall plate 9 is provided with a plurality of linear hall elements 24 which are distributed in a ring shape, and in the actual use process, the stator 4 drives the rotor 11 to rotate so as to drive the reduction gear set to rotate the flange 14, so that the feedback magnet 25 rotates on the flange 14 to change the magnetic induction intensity component and the magnetic field intensity obtained by the hall plate 9, that is, the magnetic field intensity on the feedback magnet 25 is directly mapped on the hall plate 9, and the magnetic field intensity on the feedback magnet 25 is detected by the hall elements on the hall plate 9;

it can be understood that the angle data after the speed reduction is obtained through the hall plate 9, and the motor angle data of the rotor 11 is obtained through the hall sensor 23, so that the absolute position information on the flange plate 14 can be accurate by combining the two data.

It should be noted that the linear hall element 24 on the hall plate 9 and the feedback magnet 25 are located on the same central axis, and then, during the rotation, the central axis of the feedback magnet 25 is coincident with the central axes of all the linear hall elements 24 on the hall plate 9, in the present embodiment, the number of the linear hall elements 24 is 6, and it is understood that the number of the regions is 6 by 6 linear hall elements 25, and the reduction gear set has a reduction ratio of 6 times, then, the hall plate 9 has a ring shape, it will be appreciated, therefore, that for every 60 deg. rotation of the feedback magnet 25 into another region, i.e. one revolution of the rotor 11, the flange 14 rotates one revolution, and the 6 zones are marked with indices of 0-60, therefore, the linear hall element 24 can determine which quadrant the feedback magnet 25 is currently located in, and further cooperate with the first angle sensor combination to determine an accurate angle.

In this embodiment, the support includes a rotor support 29 and a stator support 1, the rotor 11 is disposed on the periphery of the rotor support 29, the stator 4 is fixed on the inner surface of the stator support 1 in an annular distribution manner, the first hall magnet 22 is fixed on the rotor support 29, the flange 9 is located below the rotor support 29, and the hall plate 9 is located above the rotor support 29, so it is certain that the rotor support 29 is located between the flange 14 and the hall plate 9, and therefore, the rotor support 29 does not affect the collection of the magnetic force on the feedback magnet 25 by the hall plate 9.

It is further noted that it is desirable to describe,

the hall plate 9 has the advantages of thin thickness and hollow interior, and has a protection function after passing through a limiting position.

Further, a crossed roller bearing 18 is also included, and the crossed roller bearing 18 is embedded in the shell and bears the flange plate 14; by adopting the scheme, the crossed roller bearing 18 is used for bearing axial and radial impact moments, and the accuracy can be still ensured under the conditions of high rigidity, compactness and high rotating speed.

Further, the magnetic conduction device also comprises a magnetic conduction ring 3, wherein the magnetic conduction ring 3 is arranged in the bracket and wraps the rotor 11 and the stator 4; the magnetic conduction ring 3, the rotor 11, the stator 4, the rotor support 29 and the stator support 1 form a brushless permanent magnet motor structure, the brushless permanent magnet motor has the advantages of large output torque, small inertia and low cost, the planetary reducer also has the advantage of low cost, and the combination of the brushless permanent magnet motor and the planetary reducer becomes the advantage combination of the low-cost steering engine.

Further, the planetary reducer further comprises a conductor post 26, the planetary reducer further comprises a motor driving board 6 and a driving CPU in control connection with the motor driving board, the second angle sensor comprises a Hall board driving board 28 and a Hall board CPU in control connection with the Hall board, the motor driving board 6 is electrically connected with the Hall board driving board 28 through the conductor post 26, and a gap is formed between the motor driving board 6 and the Hall board driving board 28.

In this embodiment, the magnetic conductive ring 3, the rotor 11, the stator 4, the rotor support 29, and the stator support 1 form a three-phase brushless permanent magnet motor structure, the output end of the hall sensor 23 is connected to the hall board CPU, so that the hall board CPU outputs data acquired by the hall sensor 23 to the driving CPU, and then the hall sensor 23 on the first angle sensor and the first hall magnet 22 form an incremental position signal generating circuit, that is, A, B, Z three incremental signals related to the positions of the stator 4 and the rotor 11 are output to the driving CPU, so that the driving CPU drives the motor to respond quickly through the motor driving board 6 according to the incremental pulse signals provided by the hall sensor 23;

the motor driving board 6 may be directly connected to the hall sensor 23 through a bus, and thus, the motor driving board 6 may obtain position information on the hall sensor 23.

The magnetic field change information is transmitted to the annular Hall plate 9, so that the magnetic field distribution on the Hall plate 9 is shifted by a 60-degree quadrant and is detected by the Hall plate CPU.

Further, the motor driving board 6 comprises a driving circuit, a control terminal and a power-off circuit, wherein the control terminal of the control terminal is connected with the input ends of the driving circuit and the power-off circuit in a control manner, and the control circuit of the power-off circuit is connected with the input end of the driving circuit; in this embodiment, the device further includes a physical interface for an external user command, where the physical interface is connected to the control terminal through a CAN bus, so that a range value of a motor angle CAN be preset on the control terminal, and a phenomenon that hardware is damaged due to excessive use of the hardware due to parameter adjustment errors in a parameter adjustment process is avoided.

In this embodiment, the motor driving board 6 is designed by the FOC vector driving control scheme, and therefore, the relative positional relationship between the rotor 11 and the stator 4 can be improved.

The driving circuit, the control terminal and the power-off circuit are all in the prior art, that is, the above technical features all belong to the common general knowledge of those skilled in the art, and therefore, the specific models and structures thereof are not described in the specification.

Further, the reduction gear set comprises a planet carrier 13, a sun gear 10, an inner gear ring 21 and a planet gear 15 which are arranged in the planet carrier 13, the sun gear 10 and the rotor 11 are coaxially connected, the sun gear 10 is meshed with the planet gear 15, the planet gear 15 is meshed with the inner gear ring 21, and a planet shaft 17 connected with the flange plate 14 is arranged on the planet gear 15; in this embodiment, three planet wheels 15 are provided, so that the sun wheel 10 drives the planet wheels 15 to rotate, so that the planet wheels 15 revolve around the sun wheel 10, and meanwhile, for the purpose of speed reduction, the radial length of the planet wheels 15 is shorter than that of the sun wheel 10, and after the three planet wheels 15 are reduced in speed, the torque of the three planet wheels 15 is output to the flange plate 14 through the planet shafts 17.

It should be noted that the flange 14 is rigidly connected to the planet shaft 17 and rotates synchronously with the planet shaft;

further, the angular displacement sensor comprises a bearing pressing cover 7 and a driving shell with an accommodating space inside, the first angle sensor, the planetary reducer, the flange 14 and the crossed roller bearing 18 are all arranged in the driving shell, the end part of the driving shell adjacent to the flange 14 is an opening, a connecting part 16 with female threads on the side surface is extended outwards from the opening, male threads are arranged at the inner end of the bearing pressing cover 7, and the bearing pressing cover 7 is in threaded connection with the connecting part 16; the effect of the above-mentioned features is then that the flange 14 can be quickly removed and mounted, i.e. the cross roller bearing 18 is limited by the connection 16 and the bearing hold-down cap 7.

Furthermore, a base corresponding to the inner gear ring 21 is arranged in the driving shell, the side surface of the base extends to the central axis direction of the inner gear ring 21 to form a butting part 2, and the inner gear ring 21 butts against the butting part 2; the inner gear ring 21 is tightly fitted with the abutting portion 2 without a gap, so that the assembling accuracy between the abutting portion 2 and the inner gear ring 21 is ensured, and the concentricity of the inner gear ring 21 and the drive housing is ensured.

Further, the side of the abutting portion adjacent to the ring gear has a gap 30, and the gap 30 is filled with an adhesive; with this design, the fitting strength between the abutment portion 2 and the ring gear 21 can be improved by the adhesive.

In this embodiment, the length of the gap 30 can be made according to actual requirements.

Further, the side of the abutting portion 2 adjacent to the ring gear 21 has a notch 27; by such a design, the inner gear ring 21 can be quickly inserted into the base and tightly fitted with the abutting part 2.

Further, an adapter 8 is further included, and the adapter 8 is arranged between the Hall plate driving plate 28 and the motor driving plate 6; the adaptor 8 is for fixing the hall plate drive plate 28 and the motor drive plate 6.

In this embodiment, the adaptor 8 is made of an insulating material, preferably a plastic material.

In this embodiment, the stator support further includes a driving board protection cover 5, the surface of the stator support 1 is an open surface, the motor driving board 6 and the hall board driving board 28 are disposed in the open surface, and the driving board protection cover 5 is disposed on the open surface.

In this embodiment, a bearing 12 is disposed in the stator frame 1, and the rotating shaft 12 abuts against an inner wall of the stator frame 1.

Referring to fig. 6-7, in another embodiment, female threads are provided on the inner wall of the driving housing, male threads are provided on the outer circumference of the bearing pressing cover 7, the bearing pressing cover 7 is fixed in the driving housing by means of threads, the flange 14 and the crossed roller bearings 18 are both disposed below the planet carrier 13, and the planet carrier 13 is fixed to the bearing pressing cover 7 by screws so that the flange 14 and the crossed roller bearings 18 are tightly attached to each other.

The above embodiments are only for describing the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and various modifications and improvements made by the technical solution of the present invention by those skilled in the art are all within the scope of the present invention as defined by the claims.

Claims (10)

1. The utility model provides an output high accuracy positional information's servo steering wheel includes first angle sensor, planetary reducer, ring flange, first angle sensor includes hall sensor and the first hall magnet that corresponds each other, its characterized in that, planetary reducer includes:

the output end of the reduction gear set is connected with the flange plate;

the support is internally provided with a rotor and a stator which correspond to each other, the rotor is connected with an input gear of the reduction gear set, and the first Hall magnet is arranged on the rotor;

and the second angle sensor comprises a Hall plate and a feedback magnet which correspond to each other, and the feedback magnet is arranged on the flange plate.

2. The servo steering engine capable of outputting high-precision position information according to claim 1, characterized in that: the bearing also comprises a crossed roller bearing which is embedded in the shell and bears the flange plate.

3. The servo steering engine capable of outputting high-precision position information according to claim 1, characterized in that: the magnetic conduction ring is arranged in the bracket and wraps the rotor and the stator.

4. The servo steering engine capable of outputting high-precision position information according to claim 2, characterized in that: the planetary reducer further comprises a conductor post, the planetary reducer further comprises a motor drive board and a drive CPU in control connection with the motor drive board, the second angle sensor comprises a Hall board drive board and a Hall board CPU in control connection with the Hall board drive board, the motor drive board is electrically connected with the Hall board drive board through the conductor post, and a gap is formed between the motor drive board and the Hall board drive board.

5. The servo steering engine capable of outputting high-precision position information according to claim 4, wherein: the motor driving board comprises a driving circuit, a control terminal and a power-off circuit, wherein the control terminal of the control terminal is connected with the input ends of the driving circuit and the power-off circuit in a control mode, and the control circuit of the power-off circuit is connected with the input end of the driving circuit.

6. The servo steering engine capable of outputting high-precision position information according to claim 5, wherein: the reduction gear set comprises a planet carrier, a sun gear, an inner gear ring and a planet gear, wherein the sun gear, the inner gear ring and the planet gear are arranged in the planet carrier, the planet carrier is coaxially connected with the rotor, the sun gear is meshed with the planet gear, the planet gear is meshed with the inner gear ring, and a planet shaft connected with a flange plate is arranged on the planet gear.

7. The servo steering engine capable of outputting high-precision position information according to claim 6, wherein: still compress tightly the lid and inside drive housing who has accommodation space including the bearing, first angle sensor, planetary reducer, ring flange, cross roller bearing all set up in drive housing, and drive housing is the opening with the tip that the ring flange is adjacent, the opening outwards extends has the side to have the connecting portion of female screw thread, and the bearing compresses tightly the inner of lid and is equipped with the male thread, the bearing compress tightly the lid with connecting portion threaded connection.

8. The servo steering engine capable of outputting high-precision position information according to claim 7, is characterized in that: the driving shell is internally provided with a base corresponding to the inner gear ring, the side surface of the base extends towards the central shaft direction of the inner gear ring to form an abutting part, and the inner gear ring abuts against the abutting part.

9. The servo steering engine capable of outputting high-precision position information according to claim 8, wherein: the side face of the abutting part adjacent to the inner gear ring is provided with a gap, and the gap is filled with an adhesive.

10. The servo steering engine capable of outputting high-precision position information according to claim 4, wherein: the motor drive plate is characterized by further comprising an adapting piece, wherein the adapting piece is arranged between the Hall plate drive plate and the motor drive plate.

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