CN220282666U

CN220282666U - Positioning device

Info

Publication number: CN220282666U
Application number: CN202321662589.2U
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Wuxi Lead Intelligent Equipment Co Ltd
Current assignee: Wuxi Lead Intelligent Equipment Co Ltd
Priority date: 2023-06-28
Filing date: 2023-06-28
Publication date: 2024-01-02
Anticipated expiration: 2033-06-28

Abstract

The utility model provides a positioning device, comprising: a transfer assembly movable between a loading position and a unloading position to transfer a battery case containing a battery cell, a portion of the transfer assembly being rotatable about a first axis to adjust a position of the battery cell within the battery case; the positioning assembly is arranged on the transferring assembly and used for fixing the battery case, and is provided with a battery cell abutting part; when a part of the transfer assembly rotates around the first axis, the cell abutting part abuts against the cell to position the cell. According to the positioning device, the transfer assembly and the positioning assembly are arranged, and one part of the transfer assembly can rotate around the first axis, so that the battery cell can be abutted with the battery cell abutting part, the relative position of the battery cell and the battery shell can be positioned, the accuracy of the position of the battery cell in the battery shell is ensured, and the production quality of the subsequent working procedures of the battery is ensured.

Description

Positioning device

Technical Field

The utility model relates to the technical field of battery production, in particular to a positioning device.

Background

In the lithium battery production line, the process of loading the battery cell into the battery shell is shell loading. Taking a blade battery as an example, welding the positive electrode tab of the battery and the top cover after the battery is put into the shell. During welding, in the process from the physical streamline to the machine table, the position accuracy of the battery cell in the battery shell is uncertain, and the production quality of the subsequent working procedures of the battery cannot be guaranteed.

Disclosure of Invention

The utility model provides a new technical scheme of a positioning device, which at least can solve the technical problem of poor production quality of subsequent procedures of a battery due to uncertain positions of battery cores in a battery shell in the prior art.

According to a first aspect of the present utility model there is provided a positioning device comprising: a transfer assembly movable between a loading position and a unloading position to transfer a battery case containing a battery cell, a portion of the transfer assembly being rotatable about a first axis to adjust a position of the battery cell within the battery case; the positioning assembly is arranged on the transferring assembly and used for fixing the battery shell, and the positioning assembly is provided with a battery cell abutting part; the cell abutment abuts the cell to position the cell as a portion of the transfer assembly rotates about the first axis.

Optionally, the first axis is parallel to a horizontal direction, and the transfer assembly comprises: the bearing piece is rotatably arranged on the rotary table around the first axis, and the positioning assembly is arranged on the bearing piece; the first driving piece is in transmission connection with the rotary table, so that the rotary table is driven to be switched between the feeding position and the discharging position.

Optionally, the first driving member drives the rotary table to rotate around an axis extending in a vertical direction.

Optionally, the carrier comprises: the axis of the rotating shaft is coincident with the first axis, and the rotating shaft is rotatably arranged on the rotating table around the first axis; the motor is arranged on the rotary table and is in transmission connection with the rotating shaft to drive the rotating shaft to rotate; the mounting seat is connected with the rotating shaft, so that the motor drives the motor to rotate around the first axis, and the positioning assembly is arranged on the mounting seat.

Optionally, the mounting base includes: the first mounting plate is connected with the rotating shaft; at least two second mounting plates, two the second mounting plates with first mounting plate is connected, and every the second mounting plate is equipped with respectively positioning assembly.

Optionally, the positioning assembly includes: the first positioning block and the second positioning block are positioned on two sides of the first axis, the first positioning block is arranged on the bearing piece, and the first positioning block is matched with the second positioning block to fix the battery case; the battery cell abutting part is arranged on one side, close to the first positioning block, of the second positioning block; the second driving piece is arranged on the bearing piece, and the driving end of the second driving piece is connected with the second positioning block so as to drive the second positioning block to be close to or far away from the first positioning block.

Optionally, the positioning assembly further comprises: the third positioning block and the fourth positioning block are spaced in the direction of the first axis, the third positioning block is arranged on the bearing piece, and the third positioning block is matched with the fourth positioning block to fix the battery shell; the third driving piece is arranged on the bearing piece, and the driving end of the third driving piece is connected with the fourth positioning block so as to drive the fourth positioning block to be close to or far away from the third positioning block.

Optionally, the cell abutment is formed as a protrusion protruding from the second positioning block; and a first shell abutting part is arranged on one side of the second positioning block, which is close to the battery cell abutting part, and the first shell abutting part is matched with the third positioning block to fix the battery shell.

Optionally, the number of the second positioning blocks is two; one side of the second positioning block, which is close to the battery cell abutting part, is provided with a second shell abutting part, the second shell abutting part and the first shell abutting part are adjacently arranged, and the first shell abutting part and the second shell abutting part are matched with the third positioning block to position the top angle of the battery shell.

Optionally, the positioning device further includes: and the sensor is arranged on one side of the rotary table close to the rotary shaft so as to detect the rotation angle of the rotary shaft.

According to the positioning device, the transfer assembly and the positioning assembly are arranged, and a part of the transfer assembly can rotate around the first axis, so that the battery cell can be abutted with the battery cell abutting part, the relative position of the battery cell and the battery shell can be positioned, the accuracy of the position of the battery cell in the battery shell is ensured, and the production quality of the subsequent working procedures of the battery is ensured.

Other features of the present utility model and its advantages will become apparent from the following detailed description of exemplary embodiments of the utility model, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description, serve to explain the principles of the utility model.

FIG. 1 is a front view of a positioning device according to one embodiment of the present utility model;

FIG. 2 is a left side view of a positioning device according to one embodiment of the present utility model;

FIG. 3 is a rear view of a positioning device according to one embodiment of the present utility model;

FIG. 4 is a top view of a positioning device according to one embodiment of the present utility model;

FIG. 5 is a bottom view of a mount and positioning assembly of a positioning device according to one embodiment of the present utility model;

FIG. 6 is a left side view of a second locating block of the locating device according to one embodiment of the present utility model;

FIG. 7 is a rear view of a second locating block of the locating device according to one embodiment of the present utility model;

fig. 8 is a front view of a second positioning block of the positioning device according to another embodiment of the present utility model.

Reference numerals

A positioning device 100;

a transfer assembly 10; a rotary table 11;

a carrier 12; a rotation shaft 121; a motor 122; a mounting base 123; a first mounting plate 1231; a second mounting plate 1232;

a sensor 13; a connection base 14; a connecting member 15; a first driving member 16;

a positioning assembly 20; a first positioning block 21;

a second positioning block 22; a cell abutment 221; a first housing abutment 222; a second housing abutment 223;

a second driving member 23; a third positioning block 24; a fourth positioning block 25; a third driving member 26;

and a battery case 200.

Detailed Description

Various exemplary embodiments of the present utility model will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present utility model unless it is specifically stated otherwise.

The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the utility model, its application, or uses.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

A positioning device 100 according to an embodiment of the present utility model will be described in detail with reference to the accompanying drawings.

As shown in fig. 1 to 8, a positioning device 100 according to an embodiment of the present utility model includes: a transfer assembly 10 and a positioning assembly 20.

Specifically, the transfer assembly 10 is movable between a loading position and a unloading position to transfer the battery case 200 with the battery cells, and a portion of the transfer assembly 10 is rotatable about a first axis to adjust the position of the battery cells within the battery case 200; the positioning assembly 20 is arranged on the transferring assembly 10, the positioning assembly 20 is used for fixing the battery case 200, and the positioning assembly 20 is provided with a battery cell abutting part 221; as a portion of the transfer assembly 10 rotates about the first axis, the cell abutment 221 abuts the cell to position the cell.

In other words, as shown in fig. 1 to 5, the positioning device 100 according to the embodiment of the present utility model mainly comprises a transferring assembly 10 and a positioning assembly 20, wherein the positioning assembly 20 is disposed on the transferring assembly 10, the positioning assembly 20 can fix the battery case 200 with the battery cell on the transferring assembly 10, and the positioning assembly 20 is provided with the battery cell abutting portion 221.

As shown in fig. 1 to 5, the transfer assembly 10 is movable between a loading position and a discharging position, and can transfer the battery case 200 with the battery cells to a target station for a subsequent process such as welding. The part of the transfer assembly 10 can also rotate around the first axis so as to adjust the position of the battery cell in the battery case 200, when the transfer assembly 10 is located at the loading position, the position of the battery cell relative to the battery case 200 is an initial position, after the transfer assembly 10 transfers the battery case 200 with the battery cell to the target station, the part of the transfer assembly 10 can rotate around the first axis, when the part of the transfer assembly 10 rotates around the first axis, the battery cell abutting part 221 abuts against the battery cell, and the battery cell moves from the initial position to the set position so as to position the relative position of the battery cell and the battery case 200.

The initial position and the set position of the battery cell with respect to the battery case 200 may be the same, and when the initial position and the set position are the same, the battery cell does not move with respect to the battery case 200.

It should be noted that, the extending direction of the first axis includes, but is not limited to, a vertical direction and a horizontal direction, for example, when the extending direction of the first axis is the horizontal direction, the battery case 200 and the battery cell rotate around the first axis extending in the horizontal direction, and the battery cell abuts against the battery cell abutting portion 221 under the action of self gravity; when the extending direction of the first axis is the vertical direction, the battery case 200 and the battery cell rotate around the first axis extending in the vertical direction, and the battery cell abuts against the battery cell abutting part 221 by centrifugal force to position the relative positions of the battery cell and the battery case 200. Which can be determined according to actual requirements, and will not be described in detail in this embodiment.

Therefore, according to the positioning device 100 provided by the embodiment of the utility model, by arranging the transferring assembly 10 and the positioning assembly 20, a part of the transferring assembly 10 can rotate around the first axis, so that the battery cell can be abutted with the battery cell abutting part 221, the relative position of the battery cell and the battery case 200 can be positioned, the precision of the position of the battery cell in the battery case 200 is ensured, and the production quality of the subsequent process of the battery is ensured.

According to one embodiment of the utility model, the first axis is parallel to the horizontal direction, and the transfer assembly 10 comprises: the rotary table 11, the bearing piece 12 and the first driving piece 16, the bearing piece 12 is rotatably arranged on the rotary table 11 around the first axis, the positioning assembly 20 is arranged on the bearing piece 12, and the first driving piece 16 is in transmission connection with the rotary table 11 so as to drive the rotary table 11 to switch between a feeding position and a discharging position.

That is, as shown in fig. 1 to 3, the transferring assembly 10 may be composed of a rotary table 11, a carrier 12 and a first driving member 16, the carrier 12 is rotatably disposed on the rotary table 11 about a first axis extending in a horizontal direction, and the positioning assembly 20 is disposed on the carrier 12 such that the positioning assembly 20 may rotate along with the carrier 12 about the first axis, the first driving member 16 is in driving connection with the rotary table 11, and the rotary table 11 and the carrier 12 disposed on the rotary table 11 may be switched between a loading position and a unloading position by the first driving member 16, thereby improving the transferring efficiency.

In the present embodiment, the battery case 200 and the battery cell may rotate about the first axis extending in the horizontal direction, for example, when the battery case 200 rotates from the horizontal state to the inclined state, the battery cell abuts against the battery cell abutting portion 221 under the action of the self-gravity, and after the battery cell is positioned, the carrier 12 rotates from the inclined state to the horizontal state, so that the subsequent process such as welding is facilitated.

In some embodiments of the present utility model, the first driving member 16 drives the rotary table 11 to rotate about an axis extending in the vertical direction.

Specifically, as shown in fig. 1 to 3, the rotary table 11 may rotate around an axis extending in a vertical direction, the rotary table 11 may be switched between a loading position and a unloading position in a rotating manner, the first driving member 16 may be a servo motor, and an output end of the servo motor may be in transmission connection with the rotary table 11 through a gear set to drive the rotary table 11 to rotate.

According to one embodiment of the utility model, the carrier 12 comprises: the rotary table 11 is rotatably arranged around the first axis, the rotary table 11 is arranged on the rotary table 122, the motor 122 is in transmission connection with the rotary table 121 to drive the rotary table 121 to rotate, the mounting seat 123 is connected with the rotary table 121 to be driven by the motor 122 to rotate around the first axis, and the positioning assembly 20 is arranged on the mounting seat 123.

That is, as shown in fig. 1 to 4, the carrier 12 mainly comprises a rotating shaft 121, a motor 122 and a mounting base 123, wherein an axis of the rotating shaft 121 may be coincident with the first axis, a plurality of connecting bases 14 for mounting the rotating shaft 121 are provided on the rotating table 11, the rotating shaft 121 is rotatably provided on the connecting bases 14 around its own axis, and a bearing may be provided between the rotating shaft 121 and the connecting bases 14 to improve smoothness of rotation of the rotating shaft 121.

As shown in fig. 1 and 2, the motor 122 may be fixedly connected to the connection base 14, an output shaft of the motor 122 may be connected to the rotating shaft 121 through a gear set and a coupling, the motor 122 is preferably a servo motor, and the rotation of the rotating shaft 121 may be precisely controlled through the servo motor. The positioning assembly 20 may be disposed on the mounting base 123, and the mounting base 123 may be fixed on the rotating shaft 121 through the connecting member 15 to rotate synchronously with the rotating shaft 121, so that the motor 122 may drive the mounting base 123 to rotate around the rotating shaft 121.

In some embodiments of the present utility model, the mounting block 123 includes: the first mounting plate 1231 and at least two second mounting plates 1232, the first mounting plate 1231 is connected with the rotating shaft 121, the two second mounting plates 1232 are connected with the first mounting plate 1231, and each second mounting plate 1232 is provided with a positioning assembly 20, respectively.

Specifically, as shown in fig. 1 to 5, the mounting base 123 may be composed of a first mounting plate 1231 and a plurality of second mounting plates 1232, where the first mounting plate 1231 is fixedly connected with the rotating shaft 121 through a connecting piece 15, the plurality of second mounting plates 1232 are respectively fixedly connected with the first mounting plate 1231, each second mounting plate 1232 may be provided with a positioning assembly 20, and the plurality of battery cases 200 with battery cells can be fixed through the plurality of positioning assemblies 20, so that the positioning device 100 can position the battery cells in the plurality of battery cases 200 at a time, and positioning efficiency of the positioning device 100 is effectively improved.

According to one embodiment of the utility model, the positioning assembly 20 comprises: a first positioning block 21, a second positioning block 22 and a second driving member 23.

Specifically, the first positioning block 21 and the second positioning block 22 are located at two sides of the first axis, the first positioning block 21 is located on the bearing member 12, the first positioning block 21 is matched with the second positioning block 22 to fix the battery case 200, a battery cell abutting portion 221 is arranged on one side, close to the first positioning block 21, of the second positioning block 22, the second driving member 23 is located on the bearing member 12, and the driving end of the second driving member 23 is connected with the second positioning block 22 to drive the second positioning block 22 to be close to or far from the first positioning block 21.

In other words, as shown in fig. 1 to 5, the positioning assembly 20 may be composed of a first positioning block 21, a second positioning block 22 and a second driving member 23, wherein the first positioning block 21 and the second positioning block 22 are spaced apart from each other, the first positioning block 21 and the second positioning block 22 may be located at two sides of the first axis, the first positioning block 21 and the second driving member 23 are respectively fixedly connected to the carrier 12, and the second positioning block 22 is connected to an output end of the second driving member 23.

In the present embodiment, as shown in fig. 5, the second driving member 23 may be formed as a cylinder, and the second positioning block 22 may be driven to approach or separate from the first positioning block 21 by the extension and retraction of the second driving member 23 to fix the long side of the battery case 200. The second positioning block 22 is provided with a cell abutment portion 221 on a side thereof adjacent to the first positioning block 21, and the cell abuts against the cell abutment portion 221 when the battery case 200 and the cell are rotated about the first axis to position the cell.

In some embodiments of the present utility model, the positioning assembly 20 further comprises: the third positioning block 24 and the fourth positioning block 25, the third positioning block 24 and the fourth positioning block 25 are spaced in the direction of the first axis, the third positioning block 24 is arranged on the bearing piece 12, and the third positioning block 24 and the fourth positioning block 25 are matched to fix the battery case 200; the third driving member 26, the third driving member 26 is disposed on the carrier 12, and the driving end of the third driving member 26 is connected to the fourth positioning block 25, so as to drive the fourth positioning block 25 to approach or depart from the third positioning block 24.

That is, as shown in fig. 4 and 5, the positioning assembly 20 may further include a third positioning block 24, a fourth positioning block 25 and a third driving member 26, where the third positioning block 24 and the fourth positioning block 25 may be disposed opposite to each other in a direction where the first axis is located, the third positioning block 24 and the third driving member 26 are fixedly connected to the carrier 12, the fourth positioning block 25 is connected to an output end of the third driving member 26, the third driving member 26 may be formed as an air cylinder, and the fourth positioning block 25 may be driven to approach or depart from the third positioning block 24 by telescoping the third driving member 26 to fix a wide edge of the battery case 200, which has a simple structure and is convenient for manufacturing.

According to one embodiment of the present utility model, the cell abutment 221 is formed as a protrusion protruding from the second positioning block 22; the second positioning block 22 is provided with a first housing abutment portion 222 at a side close to the battery cell abutment portion 221, and the first housing abutment portion 222 cooperates with the third positioning block 24 to fix the battery case 200.

Specifically, as shown in fig. 6 to 8, a protrusion is disposed on a side of the second positioning block 22 near the first positioning block 21, and the protrusion can be used as a battery cell abutting portion 221, when the battery case 200 is fixed, the battery cell abutting portion 221 extends into the battery case 200, so that the battery cell can abut on the battery cell abutting portion 221, and the structure of the battery cell abutting portion 221 is simple, so that the battery cell can be positioned conveniently. The portion of the second positioning block 22 that is not protruded is formed as a first case abutment portion 222, and the first case abutment portion 222 may abut on one side of the battery case 200.

In some embodiments of the present utility model, the number of second positioning blocks 22 is two; one side of one of the second positioning blocks 22, which is close to the cell abutting portion 221, is provided with a second casing abutting portion 223, the second casing abutting portion 223 and the first casing abutting portion 222 are adjacently arranged, and the first casing abutting portion 222 and the second casing abutting portion 223 cooperate with the third positioning block 24 to position the top corner of the battery case 200.

As shown in fig. 6 and 8, in the present embodiment, the cell abutment 221 is located at one corner of the second positioning block 22, so that the portion of the second positioning block 22 that is not protruded is formed as the first case abutment 222 and the second case abutment 223, and when the battery case 200 is fixed, the first case abutment 222 and the second case abutment 223 can abut against two adjacent sides of the battery case 200, thereby realizing positioning of one vertex angle of the battery case 200.

According to one embodiment of the present utility model, the positioning device 100 further includes: and a sensor 13, wherein the sensor 13 is arranged on one side of the rotary table 11 close to the rotary shaft 121 to detect the rotation angle of the rotary shaft 121.

That is, as shown in fig. 1, the rotary table 11 may be mounted with a sensor 13, the position of the sensor 13 corresponds to the position of the rotation shaft 121, and the sensor 13 may be an angle sensor through which the rotation angle of the rotation shaft 121 may be detected to ensure that the rotation shaft 121 rotates within a set range.

In summary, according to the positioning device 100 provided by the embodiment of the utility model, by arranging the transferring assembly 10 and the positioning assembly 20, a part of the transferring assembly 10 is rotatable around the first axis, so that the battery cell can be abutted with the battery cell abutting part 221, and the relative position of the battery cell and the battery case 200 can be positioned, so that the accuracy of the position of the battery cell in the battery case 200 is ensured, and the production quality of the subsequent process of the battery is ensured.

While certain specific embodiments of the utility model have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the utility model. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the utility model. The scope of the utility model is defined by the appended claims.

Claims

1. A positioning device, comprising:

a transfer assembly (10), the transfer assembly (10) being movable between a loading position and a unloading position to transfer a battery housing (200) containing a battery cell, a portion of the transfer assembly (10) being rotatable about a first axis to adjust a position of the battery cell within the battery housing (200);

the positioning assembly (20), the positioning assembly (20) is arranged on the transferring assembly (10), the positioning assembly (20) is used for fixing the battery case (200), and the positioning assembly (20) is provided with a battery cell abutting part (221);

the cell abutment (221) abuts the cell to position the cell as a portion of the transfer assembly (10) rotates about the first axis.

2. The positioning device according to claim 1, wherein the first axis is parallel to the horizontal direction, the transfer assembly (10) comprising:

a rotary table (11) and a bearing piece (12), wherein the bearing piece (12) is rotatably arranged on the rotary table (11) around the first axis, and the positioning assembly (20) is arranged on the bearing piece (12);

the first driving piece (16), first driving piece (16) with revolving stage (11) transmission connection is in order to drive revolving stage (11) switch between material loading position and unloading position.

3. Positioning device according to claim 2, wherein the first drive member (16) drives the rotation table (11) in rotation about an axis extending in a vertical direction.

4. The positioning device according to claim 2, wherein the carrier (12) comprises:

the axis of the rotating shaft (121) is coincident with the first axis, and the rotating shaft (121) is rotatably arranged on the rotating table (11) around the first axis;

the motor (122) is arranged on the rotary table (11), and the motor (122) is in transmission connection with the rotating shaft (121) to drive the rotating shaft (121) to rotate;

the mounting seat (123), the mounting seat (123) with pivot (121) are connected, in order to by motor (122) drive around first axis rotates, locating component (20) are located mounting seat (123).

5. The positioning device according to claim 4, wherein the mounting base (123) comprises:

a first mounting plate (1231), the first mounting plate (1231) being connected to the rotating shaft (121);

at least two second mounting plates (1232), two second mounting plates (1232) are connected to the first mounting plate (1231), and each second mounting plate (1232) is provided with the positioning assembly (20) respectively.

6. The positioning device according to claim 2, wherein the positioning assembly (20) comprises:

a first positioning block (21) and a second positioning block (22), wherein the first positioning block (21) and the second positioning block (22) are positioned at two sides of the first axis, the first positioning block (21) is arranged on the bearing piece (12), and the first positioning block (21) is matched with the second positioning block (22) to fix the battery case (200);

the battery cell abutting part (221) is arranged on one side of the second positioning block (22) close to the first positioning block (21);

the second driving piece (23), second driving piece (23) are located carrier (12), just the drive end of second driving piece (23) with second locating piece (22) are connected, in order to drive second locating piece (22) are close to or keep away from first locating piece (21).

7. The positioning device according to claim 6, wherein the positioning assembly (20) further comprises:

a third positioning block (24) and a fourth positioning block (25), wherein the third positioning block (24) and the fourth positioning block (25) are spaced in the direction of the first axis, the third positioning block (24) is arranged on the bearing piece (12), and the third positioning block (24) is matched with the fourth positioning block (25) to fix the battery case (200);

the third driving piece (26), the third driving piece (26) is located carrier (12), just the drive end of third driving piece (26) with fourth locating piece (25) are connected, in order to drive fourth locating piece (25) are close to or keep away from third locating piece (24).

8. The positioning device according to claim 7, wherein the cell abutment portion (221) is formed as a protrusion protruding from the second positioning block (22);

a first shell abutting part (222) is arranged on one side, close to the battery cell abutting part (221), of the second positioning block (22), and the first shell abutting part (222) is matched with the third positioning block (24) to fix the battery shell (200).

9. The positioning device according to claim 8, characterized in that the number of second positioning blocks (22) is two;

one side of the second positioning block (22) close to the battery cell abutting part (221) is provided with a second shell abutting part (223), the second shell abutting part (223) and the first shell abutting part (222) are adjacently arranged, and the first shell abutting part (222) and the second shell abutting part (223) are matched with the third positioning block (24) to position the top angle of the battery shell (200).

10. The positioning device of claim 4, further comprising:

and the sensor (13) is arranged on one side of the rotary table (11) close to the rotary shaft (121) so as to detect the rotation angle of the rotary shaft (121).