CN207603395U - Actuator module - Google Patents

Abstract

The utility model provides an actuator module, it contains motor, speed reducer and angle sensing subassembly. The motor comprises a stator, a rotor, an input shaft and an encoder, wherein the rotor drives the input shaft to synchronously rotate by utilizing the interaction of a magnetic field between the rotor and the stator, and the encoder is used for detecting the rotating angle of the input shaft in a single circle; the speed reducer is arranged on the first side of the motor, is assembled with the input shaft and comprises a rotatable output part, and the speed reducer enables the output part to rotate at a reduced speed corresponding to the rotation speed of the input shaft according to a reduction ratio; the angle sensing assembly comprises a gear assembly and an angle sensor, the gear assembly is meshed with the meshing part of the output part and is driven by the output part to rotate, a gear ratio is arranged between the gear assembly and the meshing part, and the angle sensor is arranged on the gear and used for detecting the total rotating angle of the gear assembly.

Description

Actuator module

technical field

The utility model relates to an actuator module, in particular to an actuator module which has a reducer and a motor, and can record the total rotation angle of the output part of the reducer when the power is cut off. Then the total rotation angle of the input shaft of the motor can be obtained, and the matching The encoder of the motor to obtain the multi-turn absolute position of the actuator module of the output.

Background technique

Generally speaking, the motor has the characteristics of high speed and low torque, so it is difficult to drive a large load. Therefore, when the motor is to be used to push heavy objects, it must use a reducer to slow down, thereby increasing the torque. Therefore, there are currently some The industry is considering combining the motor and the reducer into an actuator module for use.

In order to monitor the operation of the motor and reducer for corresponding control, it is necessary to detect the rotation angle of the input shaft used by the motor to provide power, and at the same time detect the multi-turn absolute position of the rotatable output part of the reducer. However, in the prior art, only an encoder is disclosed to detect and monitor the rotation angle of the input shaft of a single-structure motor, but there is no related art that detects the multi-turn absolute position of the output part of the reducer. Even if it is possible to install another encoder in the actuator module to directly detect the multi-turn absolute position of the output part of the reducer, many problems are encountered. Firstly, in order to directly detect the multi-turn absolute position of the output part of the reducer, the resolution of the additional encoder needs to be high, but the cost of the encoder is relatively high, resulting in an increase in the production cost of the actuator module. Furthermore, encoders with the function of directly detecting multi-turn absolute positions usually do not have the function of power-off recording. The multi-turn absolute position of the output part of the machine will make the actuator module very inconvenient in use, and the production cost will be relatively increased.

Therefore, how to develop an actuator module that can improve the above-mentioned defects of the prior art is an urgent problem that those in the relevant technical field need to solve.

Utility model content

The purpose of this utility model is to provide an actuator module, which detects the total rotation angle of the output part of the reducer through the angle sensing assembly including the gear assembly and the angle sensor, and uses the encoder of the motor to detect the total rotation angle of the motor. The rotation angle of the input shaft in a single turn, and then the multi-turn absolute position of the output part of the reducer can be obtained according to the sensing results of the angle sensing component and the encoder, so that the actuator module of the present invention can achieve Power outage recording function, reduced production cost and good convenience.

To achieve the above purpose, a broad embodiment of the present invention provides an actuator module, which includes a motor, a reducer and an angle sensing component. The motor includes a stator, a rotor, an input shaft and an encoder. The rotor uses the magnetic field interaction between the stator to drive the input shaft to rotate synchronously. The encoder is adjacent to the input shaft to detect the rotation angle of the input shaft within a single turn. The reducer is arranged on the first side of the motor and assembled with the input shaft, and includes a rotatable output part, and the reducer makes the output part rotate at a reduced speed corresponding to the rotation speed of the input shaft according to the reduction ratio; the angle sensing component includes A gear assembly composed of at least one gear and at least one angle sensor. The gear assembly engages on the meshing portion of the output portion and is driven to rotate by the output portion, and there is a gear ratio between the gear assembly and the meshing portion, so that the gear assembly The rotation speed of the output part is decelerated according to the gear ratio, and the angle sensor is arranged on the gear to detect the total rotation angle of the gear assembly.

According to an exemplary embodiment of the present utility model, the encoder is constituted by a single-turn absolute encoder or a single-turn incremental encoder.

According to an exemplary embodiment of the present invention, the stator is located on the relative outer side of the motor, the rotor is located on the relative inner side of the motor, and is combined with the input shaft.

According to an exemplary embodiment of the present invention, the angle sensor is composed of an optical encoder, a magnetic encoder or a Wiegand sensor.

According to an exemplary embodiment of the present utility model, the output part includes an output shaft extending from the output part and rotates synchronously with the output part, the input shaft includes a hollow structure, and the position of the output shaft Correspondingly, when the reducer is arranged on the first side, the output shaft is passed through, wherein when the output shaft is passed through and accommodates the hollow structure, a first end of the output shaft protrudes from the On the first side, a second end portion of the output shaft protrudes from a second side of the motor opposite to the first side.

According to an exemplary embodiment of the present invention, the angle sensing component is disposed adjacent to the second side, and the engagement portion is formed on the second end of the output shaft.

According to an exemplary embodiment of the present invention, the angle sensing component is disposed adjacent to the first side, and the engaging portion is formed on the output portion.

According to an exemplary embodiment of the present invention, the number of the gears is multiple, and at least one of the multiple gears is engaged with the output part, and each of the remaining gears is engaged with the other corresponding on the gear, and the gear ratio corresponds to the tooth number relationship of a plurality of the gears.

According to an exemplary embodiment of the present invention, there are multiple angle sensors, and each angle sensor is disposed on a corresponding gear.

According to an exemplary embodiment of the present invention, there are multiple angle sensors, and each angle sensor is disposed on a corresponding gear.

According to an exemplary embodiment of the present invention, the number of the gear is one, and the gear meshes with the output part, and the gear ratio corresponds to the number of teeth of the gear.

The beneficial effect of the utility model is that the actuator module provided by the utility model includes a motor and a reducer, and the output part of the reducer is provided with an angle sensing component, thereby using the angle sensing component to Obtain the total number of revolutions of the input shaft of the motor, and use the rotation angle in a single revolution obtained by the encoder of the motor to obtain the multi-turn absolute position of the input shaft, and then push the multi-turn absolute position of the output part of the reducer. position, so the actuator module of the present invention can achieve the multi-turn absolute position of the power-off recording output part, better practicability and lower production cost.

Description of drawings

Fig. 1 is a schematic diagram of the structural concept of the actuator module of the first preferred embodiment of the present invention.

FIG. 2 is a schematic cross-sectional view of the actual structure of the actuator module shown in FIG. 1 .

FIG. 3 is a schematic side view of the three-dimensional structure of the actuator module shown in FIG. 2 .

FIG. 4 is a schematic side view of another modification example of the actuator module shown in FIG. 3 .

FIG. 5 is a structural conceptual diagram of yet another modification example of the actuator module shown in FIG. 1 .

The reference signs are as follows:

1: Actuator module

2: Motor

20: Stator

21: rotor

22: input shaft

23: Encoder

3: reducer

30: output unit

300: meshing part

301: output shaft

4: Angle sensing component

40: gear assembly

400: Gears

41: Angle sensor

Detailed ways

Some typical embodiments embodying the features and advantages of the utility model will be described in detail in the description of the following paragraphs. It should be understood that the utility model can have various changes in different ways, all of which do not depart from the scope of the utility model, and the descriptions and illustrations therein are used as illustrations in nature, rather than to limit the scope of the utility model. utility model.

Please refer to Fig. 1, Fig. 2 and Fig. 3, wherein Fig. 1 is a structural concept schematic diagram of the actuator module of the first preferred embodiment of the present utility model, and Fig. 2 is the actual structural section of the actuator module shown in Fig. 1 Schematic diagram, FIG. 3 is a schematic side view of the actual structure of the actuator module shown in FIG. 2 . As shown in FIGS. 1-3 , the actuator module 1 of this embodiment can be applied in various mechanical devices, preferably in a robot device, for example, arranged at the joint of a robot arm of the robot device. The actuator module 1 includes a motor 2 , a reducer 3 and an angle sensing component 4 .

The motor 2 belongs to the input side of the actuator module 1 and includes a stator 20 , a rotor 21 , an input shaft 22 and an encoder 23 . The stator 20 is located on the opposite side of the motor 2 and may include coils (not shown). The rotor 21 is located on the relative inner side of the motor 2, that is, in the stator 20, and the rotor 21 is combined with the input shaft 22, and may include magnets (not shown). Rotate, and then drive the input shaft 22 to rotate synchronously. The encoder 23 is adjacent to the input shaft 22 and is used to detect the rotation angle of the input shaft 22 within a single turn.

In some embodiments, the encoder 23 may be, but not limited to, constituted by a single-turn absolute encoder or a single-turn incremental encoder. In addition, the encoder 23 can be assembled on the input shaft 22 or arranged at a distance from the input shaft 22 .

The speed reducer 3 belongs to the output side of the actuator module 1, and is arranged on the first side of the motor 2, and is assembled with the input shaft 22. In addition, the speed reducer 3 also includes a rotatable output part 30, the speed reducer 3 is to reduce the rotation of the output part 30 corresponding to the rotation speed of the input shaft 22 according to a reduction ratio. In addition, the output part 30 further includes an engaging part 300 (as shown in FIG. 3 ) having a tooth part.

In some embodiments, as shown in FIG. 1 and FIG. 2 , the output part 30 further includes an output shaft 301 extending from the output part 30 , so the output shaft 301 and the output part 30 rotate synchronously. In addition, the input shaft 22 includes a hollow structure corresponding to the position of the output shaft 301, and is used for passing the output shaft 301 when the reducer 3 is arranged on the first side of the motor, wherein when the output shaft 301 passes through and When accommodated in the hollow structure of the input shaft 22 , the first end of the output shaft 301 protrudes from the first side of the motor, and the second end of the output shaft 301 protrudes from the second side of the motor 2 opposite to the first side. Furthermore, the engaging portion 300 can actually be formed on the second end portion of the output shaft 301 , but it is not limited thereto.

The angle sensing component 4 includes a gear component 40 composed of at least one gear 400 (as shown in FIG. 3 ) and at least one angle sensor 41 . The gear assembly 40 meshes with the meshing portion 300 of the output portion 30 and is driven to rotate by the output portion 30, and there is a gear ratio between the gear assembly 40 and the meshing portion 300, so that the speed of the gear assembly 40 is relative to the output portion according to the gear ratio. 30 rpm for deceleration. The angle sensor 41 is arranged on the gear 400 to detect the total rotation angle of the gear 400 of the gear assembly 40, so as to obtain the total number of rotations of the input shaft 22 corresponding to the total number of rotations of the output part 30 .

In the above embodiments, the angle sensor 41 may be, but not limited to, constituted by an optical encoder, a magnetic encoder or a Wiegand sensor. In addition, as shown in FIG. 1 , the angle sensing assembly 4 can be disposed adjacent to the second side of the motor 2 , so the gear 400 of the gear assembly 40 actually meshes with the engaging portion 300 of the second end of the output shaft 301 .

The following exemplifies how the actuator module 1 of the present invention obtains the multi-turn absolute position of the output part 30 . First, through the detection result of the encoder 23 , the rotation angle of the input shaft 22 within a single turn can be obtained, which is assumed to be θ1 here. In addition, the angle sensor 41 of the angle sensing assembly 4 can also sense the total rotation angle of the gear assembly 40, which is assumed to be θ2 here, so the total number of rotations of the gear assembly 40 is equal to θ2÷360°, and because the gear There is a gear ratio between the assembly 40 and the meshing portion 300 of the output part 30. Here, it is assumed that the ratio of the gear ratio is t, so the total rotation of the output part 30 (or the output shaft 301) can be deduced from the total number of rotations of the gear assembly 40 The number of turns is equal to (θ2÷360°)÷t, and because the reducer 3 makes the output part 30 (or the output shaft 301) rotate at a reduced speed corresponding to the rotation speed of the input shaft 22 according to the reduction ratio, if the reducer 3 is assumed If the reduction ratio of 3 is r, the total number of rotations of the input shaft 22 can be deduced n=(θ2÷360°)÷t÷r, where n is the total number of rotations of the input shaft 22, so that The multi-turn absolute position of the input shaft 22 is obtained as 360°×n+θ1, and the multi-turn absolute position of the output part 30 can also be obtained by dividing the multi-turn absolute position of the input shaft 22 by the reduction ratio, that is, θ=(360°× n+θ1)÷r, where θ is the multi-turn absolute position of the input shaft 22 .

For example, when the gear ratio of the gear assembly 40 and the meshing portion 300 of the output portion 30 is 16:1, it means that the angle sensor 41 can sense that the output portion 30 rotates 8 times in the forward direction or 8 times in the reverse direction. The total rotation angle, and if the reduction ratio of the reducer is 100:1, the angle sensor 41 only needs a resolution of 16×100=1600 or more to analyze the multi-turn absolute position of the input shaft 22, and then know The multi-turn absolute position of the output part 30 (or the output shaft 301). In the above embodiment, when the gear ratio of the gear assembly 40 and the meshing portion 300 of the output portion 30 is lower, the resolution required by the angle sensor 41 is higher. On the contrary, when the gear assembly 40 is meshed with the output portion 30 The higher the gear ratio of the part 300 is, the lower the resolution required for the angle sensor 41 is.

As can be seen from the above, since the actuator module 1 of the present invention is provided with the angle sensing assembly 4 including the gear assembly 40 and the angle sensor 41 at the output part 30 of the reducer 3, in this way, the utility model achieves The actuator module 1 can not only use the sensing result of the angle sensor 41, but also cooperate with the sensing result of the encoder 23 of the motor 1 to obtain the multi-turn absolute position of the input shaft 22, and then know the output part 30 ( or the multi-turn absolute position of the output shaft 301), and since the actuator module 1 of the present invention uses the gear assembly 40 and the angle sensor 41 to detect the angle, it can achieve power-off without additional mounting batteries The effect of recording makes the practicability better, and the production cost is also lower. Furthermore, because the angle sensing component 4 is arranged on the output part 30 of the speed reducer 3, and cooperates with the result of the sensing of the encoder 23 of the motor 1 to Obtain the multi-turn absolute position of the output part 30 (or output shaft 301), the angle sensing assembly 4 does not directly detect the multi-turn absolute position of the output part 30 of the reducer 3, so the actuator module 1 of the present invention can be used in In the case of the angle sensor 41 with poor resolution but relatively cheap cost, the multi-turn absolute position of the output part 30 (or output shaft 301) can still be obtained accurately by cooperating with the encoder 23 of the motor 1, so the practical The production cost of the novel actuator module 1 can be relatively reduced.

In some embodiments, as shown in FIG. 3 , the number of gears 400 may be multiple, and at least one gear 400 of the multiple gears 400 is engaged with the output shaft 301 of the output part 30 , and each of the other gears 400 is engaged with On other corresponding gears 400 , the gear ratio between the gear assembly 40 and the meshing portion 300 of the output portion 30 corresponds to the teeth number relationship among the gears 400 . In addition, there may be multiple angle sensors 41 , and each angle sensor 41 may be disposed on a corresponding gear 400 .

Of course, as shown in FIG. 4, the number of gears 400 can also be one, and the gear 400 is meshed on the output shaft 301 of the output part 30, and the gear ratio between the gear assembly 40 and the meshing part 300 of the output part 30 corresponds to The number of teeth on the gear 400.

In addition, the angle sensing component 4 is not limited to being adjacent to the second side of the motor 2. In other embodiments, as shown in FIG. 5, the angle sensing component 4 can also be adjacent to the first side of the motor 2. Suppose, at this time, the output part 30 does not need to include the output shaft 301 , and directly includes the meshing part 300 , so the gear assembly 40 meshes with the meshing part 300 of the output part 30 .

To sum up, the utility model provides an actuator module, the actuator module includes a motor and a reducer, and the output part of the reducer is provided with an angle sensing component, thereby using the angle sensing component to obtain the motor The total number of rotations of the input shaft of the motor, and the rotation angle obtained by the encoder of the motor within a single turn, to obtain the multi-turn absolute position of the input shaft, and then the multi-turn absolute position of the output part of the reducer can be obtained. Therefore, the actuator module of the present invention can achieve the multi-turn absolute position of the power failure recording output part, better practicality and lower production cost.

Claims (10)

1. a kind of actuator module, which is characterized in that the actuator includes：

One motor, comprising a stator, a rotor, an input shaft and an encoder, which is interacted using the magnetic field between stator It acts on and drives the input shaft synchronous rotary, the encoder is adjacent with the input shaft to be set, to detect the input shaft in individual pen Rotation angle；

One speed reducer is set on one first side of the motor and is connect with the input shaft group, and comprising a rotatable output section, The speed reducer makes the output section correspond to the rotary speed of the input shaft and is rotated in deceleration according to a reduction ratio；And

One angle sensing component includes the gear assembly being made of an at least gear and an at least optical encoders, angle sensors, the tooth Wheel assembly is engaged on an engaging section of the output section and is driven and rotated, and the gear assembly is engaged with this by the output section Between portion there is a gear ratio, the rotating speed of the gear assembly is made to be subtracted according to the gear ratio relative to the rotating speed of the output section Speed, the optical encoders, angle sensors are set on the gear, to detect total rotation angle of the gear assembly.

2. actuator module as described in claim 1, which is characterized in that the encoder is single by an individual pen absolute encoder or one Circle incremental encoder is formed.

3. actuator module as described in claim 1, which is characterized in that the stator is located at the opposite exterior lateral sides of the motor, this turn Son is located at the relative inner of the motor, and is connected with group with the input shaft.

4. actuator module as described in claim 1, which is characterized in that the optical encoders, angle sensors are by an optical encoder, a magnetic Formula encoder or a Wiegand sensor are formed.

5. actuator module as described in claim 1, which is characterized in that the output section includes an output shaft, by the output section Extend, and rotated synchronously with the output section, which includes a hollow structure, corresponding with the position of the output shaft, When the speed reducer is set on first side, to be worn for the output shaft, wherein the output shaft is worn and to house this hollow During structure, a first end of the output shaft protrudes from first side, a second end of the output shaft protrude from this first One the second side of the opposite motor in side.

6. actuator module as claimed in claim 5, which is characterized in that the angle sensing component is adjacent with the second side to be set, And the engaging section is formed on the second end of the output shaft.

7. actuator module as described in claim 1, which is characterized in that the first side is adjacent sets with this for the angle sensing component, And the engaging section is formed on the output section.

8. actuator module as described in claim 1, which is characterized in that the number of the gear is multiple, and multiple gears In at least one gear be engaged on the output section, and remaining each gear is engaged on other corresponding gears, and The gear ratio corresponds to the number of teeth relationship of multiple gears.

9. actuator module as claimed in claim 8, which is characterized in that the optical encoders, angle sensors have multiple, and each angle Degree sensor is set on the corresponding gear.

10. actuator module as described in claim 1, which is characterized in that the number of the gear is one, and the gear engages In on the output section, and the gear ratio corresponds to the number of teeth of the gear.