CN112713719A - Servo gear motor number of turns recorder - Google Patents
Servo gear motor number of turns recorder Download PDFInfo
- Publication number
- CN112713719A CN112713719A CN202011638459.6A CN202011638459A CN112713719A CN 112713719 A CN112713719 A CN 112713719A CN 202011638459 A CN202011638459 A CN 202011638459A CN 112713719 A CN112713719 A CN 112713719A
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- gear
- motor
- angle
- turns
- speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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- Engineering & Computer Science (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a servo reducing motor turn number recording device, wherein a rotor at the tail end of a motor body is provided with a gear pair assembly, the gear pair assembly comprises a first gear and a second gear, the second gear is positioned on one side of the first gear, the first gear is meshed with the second gear, magnets are arranged in the first gear and the second gear, a circuit board is arranged in a shell, a magnetic inductor is arranged on the surface of the circuit board opposite to the magnets, and the magnetic inductor is used for detecting the rotation change of the gear pair assembly; the invention aims to provide a servo speed-down motor turn number recording device which integrates a magnetic sensor unit in a compact motor space, does not need battery recording and can directly calculate the turn number and the rotation angle of a motor rotor.
Description
Technical Field
The invention relates to the field of servo speed reducing motors, in particular to a servo speed reducing motor turn number recording device.
Background
The servo speed reducing motor consists of a motor, a speed reducer and a driving circuit. The conventional single motor direct drive cannot meet the requirements of the market on high precision and high intelligence. Because the single motor has the output characteristic of high rotating speed and low torque, the single motor cannot be directly used in most occasions, and a speed reducer is required to reduce the rotating speed and improve the torque for use. Common speed reducers include planetary speed reducers, harmonic speed reducers, RV speed reducers and the like. The motor speed and the angle output by the motor can be monitored in real time by matching with a sensor for use, and support is provided for intelligent control of the motor. The motor, the speed reducer and the sensor are integrated, and the market mainstream trend is. The sensor has external type and built-in type, and external sensor is at the outside installation sensor of motor promptly, generally at the head end of motor output shaft, but motor drive circuit is at the motor tail end, walks the line inconvenient, often the structure becomes complicated, needs the cost such as customer's input great development, debugging and material. The built-in sensor sets up the sensor promptly in the motor, for market mainstream direction.
Because the servo reducing motor is provided with the speed reducer, the output shaft of the servo reducing motor is actually the output shaft of the speed reducer and is not the motor rotor, and the rotating speed and the angle of the motor rotor cannot directly reflect the rotating speed and the angle of the output shaft of the servo reducing motor. The existing scheme of the built-in sensor in the market is that a sensor is arranged at the tail end of a motor to directly measure the rotating speed and the angle of a motor rotor and record the number of turns of the motor rotor, and the rotating speed and the angle of an output shaft are calculated by matching with an algorithm. The scheme needs to continuously supply power to the sensor, detect and record the rotation angle and the number of turns of the motor in real time, and keep uninterrupted power supply by a built-in battery, but the storage time of the battery is limited, and the use environment is also limited; if the sensor is powered off, the output shaft rotates under the action of external force, the motor rotor also rotates along with the sensor, the sensor cannot record the number of turns of the motor rotor, and the angle of the output shaft calculated by the chip after the sensor is powered on again does not accord with the actual angle.
Disclosure of Invention
The invention aims to provide a servo speed-down motor turn number recording device which integrates a magnetic sensor unit into a compact motor space, does not need a battery for recording and can store the turn number and the rotation angle of a motor rotor for a long time.
In order to solve the existing problems in the background art, the invention provides the following technical scheme: the utility model provides a servo gear motor number of turns recorder, includes motor body, motor body includes the shell, is located the stator of shell and is located the rotor of stator, motor body is connected with the speed reducer, the speed reducer includes speed reducer shell, speed reducer gear train and speed reducer output shaft, is equipped with gear pair subassembly on the rotor of motor body tail end, and gear pair subassembly includes first gear and second gear, and the second gear is located one side of first gear, and first gear and second gear meshing are connected, and first gear and the built-in magnet of second gear install the circuit board in the shell, and the circuit board is installed the magnetic inductor towards installing on the face of magnet relative department, and the magnetic inductor is used for detecting the rotation change of gear pair subassembly.
According to the technical scheme, the first gear is sleeved on the rotor at the tail end of the motor, the second gear is positioned on the right side of the first gear and is in meshed connection with the first gear, magnets are embedded in the centers of the first gear and the second gear, the tail end of the shell is fixedly connected with the circuit board, magnetic inductors are mounted on the circuit board and correspond to the magnets in the centers of the first gear and the second gear, and the magnetic inductors are welded on the circuit board through electrons; the motor is started, the rotor drives the first gear to rotate, and the first gear rotates to drive the second gear to rotate; during continuous operation, the rotation number, the rotation speed and the rotation angle of the magnet embedded in the first gear can be detected by the magnetic inductor to calculate the rotation speed and the angle of the output shaft, and the rotation number, the angle, the rotation number and the angle of the output shaft of the first gear can also be calculated by the rotation number and the angle of the magnet embedded in the second gear detected by the magnetic inductor; and restarting the motor after the power failure, calculating the number of turns of the first gear through the angle of the magnet embedded in the second gear detected by the magnetic inductor, and calculating the current angle of the output shaft of the motor. Because output shaft, first gear, second gear pass through gear engagement, are in the linkage state all the time, and the output shaft receives external force effect angle to change when the outage, and the angle of first gear and second gear also changes along with, and the rotation of whole circle or several circles has probably taken place for first gear, and the number of turns of first gear has been reflected to the angle after the second gear rotation. The first gear is directly connected with the motor rotor, the rotating speed and the angle are synchronous with the motor rotor, and the motor output shaft is an output shaft of the speed reducer, so that the rotating speed and the angle of the motor output shaft are the rotating speed and the angle of the rotor divided by the speed ratio. The first gear is directly connected with the motor rotor, the generated high-speed rotation is realized, the rotated angle often exceeds 360 degrees, the angle value is the angle of the first gear plus 360 times the number of turns of the first gear, the sensor can only detect the angle within 360 degrees, and the total angle of the first gear is calculated by angle data of the second gear.
Preferably, the number of teeth of the second gear is n, and the number of teeth of the first gear is n + 1.
According to the technical scheme, the first gear is 1 tooth more than the second gear, when the first gear rotates for 1 circle, the second gear rotates for 1 circle and then rotates for 1 tooth more, when the first gear rotates for 2 circles, the second gear rotates for 2 circles and then rotates for 2 teeth, and similarly, when the first gear rotates for 3 circles, the second gear rotates for 3 circles and then rotates for 3 teeth. The angle of the second gear detected by the sensor can calculate the number of turns of the first gear. The number of teeth of the second gear is the same as the speed ratio of the speed reducer, the angle of each tooth is equal to 360/speed ratio, and when the first gear rotates for one circle, the rotation angle of the output shaft of the speed reducer is 360/speed ratio. The angular position of the second gear is the same as that of the output shaft of the speed reducer; the number of the teeth of the second gear is n, the number of the teeth of the first gear is 1 larger than that of the second gear, when the first gear rotates for 1 circle, the second gear rotates for 1+1/n circles, the angular position of the second gear is 1/n, when the first gear rotates for m circles, the second gear rotates for m + m/n circles, the angular position of the second gear is m/n, because the state of the gear during rotation is a circle which is repeated, the light is the accurate number of circles of the first gear which can not be judged from the angular position of the first gear after the magnetic sensor is powered off, the position angle of the second gear is required to assist in obtaining the accurate number of circles of the first gear, for example, when the number of the teeth of the first gear is 50, the number of the teeth of the second gear is 49, the rotational angular position of the first gear which is stopped after the power off is the angle of the 5 th number of teeth, and the rotational angular position of the second gear which is stopped after the power off is the angle of the 4 th gear, the number of turns of the first gear is 4, and the total rotation angle of the first gear is equal to the angle of 4 turns plus the angle of the 5 th tooth number when the first gear stops; the number of teeth of the first gear is one greater than the number of teeth of the second gear in order to facilitate calculation of the number of turns of the first gear, and if the number of teeth of the first gear is greater than the number of teeth of the second gear by more than a few number, it becomes complicated to convert the number of turns of the first gear according to the rotational angle position of the second gear.
Compared with the prior art, the invention has the beneficial effects that: the magnetic sensor unit is integrated in the compact motor space, the battery is not required to record, and the number of turns and the rotating angle of the motor rotor can be directly calculated; when the magnetic inductor cuts off the power supply, the magnetic inductor induces the rotation number of turns and the data loss of the rotating speed of the first gear and the second gear, the number of turns of the first gear can be obtained by checking the angle positions of the first gear and the second gear at the tail end of the casing, and then the rotating angle of the motor rotor is calculated according to the rotating angle and the number of turns of the first gear.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
In the drawings:
FIG. 1 is a cross-sectional view of a motor body according to the present invention;
FIG. 2 is a schematic view of the gear pair assembly of the present invention.
Reference numbers in the figures: 1. a speed reducer; 2. a first gear; 3. a second gear; 4. a magnet; 5. a magnetic inductor; 6. a motor body; 7. an output shaft of the motor; 8. a circuit board.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and 2, a servo reduction motor turn number recording device comprises a motor body 8, wherein the motor body 6 comprises a shell, a stator and a rotor, the stator is positioned in the shell, the rotor is positioned in the stator, the motor body 6 is connected with a speed reducer, the speed reducer 1 comprises a speed reducer shell, a speed reducer gear set and a speed reducer output shaft 7, a first gear 2 is sleeved on the rotor at the tail end of the motor, a second gear 3 is positioned at the right side of the first gear 2 and is meshed with the first gear 2, magnets 4 are embedded in the centers of the first gear 2 and the second gear 3, the tail end of the shell 1 is fixedly connected with a circuit board 6, magnetic inductors 5 are respectively arranged on the circuit board 8 corresponding to the magnets 4 in the centers of the first gear 2 and the second gear 3, and the magnetic inductors 5 are welded on the circuit board; the motor is started, the rotor drives the first gear 2 to rotate, the first gear 2 rotates to drive the second gear 3 to rotate, the magnetic inductor 5 senses the number of rotation turns, the rotating speed and the rotating angle of the first gear 2 by sensing the magnet 4 embedded in the first gear 2, so that the number of rotation turns and the rotating speed of the output shaft of the motor are obtained, and the magnetic inductor 5 senses the number of rotation turns, the rotating speed and the rotating angle of the second gear 3 by sensing the magnet 4 embedded in the second gear 3; the magnetic sensor is an angle sensor, and the angle sensor can adopt one of a magnetic encoder or an optical encoder.
As shown in fig. 2, the rotation angle of the reducer output shaft 7 is calculated as (angle of the first gear 2 +360 × number of turns of the first gear 2)/speed ratio, the angle of the first gear 2 refers to the angular position of the first gear 2 when it stops, and the interval of the angular position of the first gear 2 is 0 to 360 degrees; after the magnetic inductor 5 is restarted in power failure, detecting the angle position of the second gear 3 to obtain the number of turns of the first gear 2, and calculating the rotation angle of the output shaft 7 of the speed reducer by knowing the angle of the first gear 2, the number of turns of the first gear 2 and the speed ratio, so that the motion position of the machine connected with the output shaft 7 of the speed reducer in power failure at that time can be known; the first gear is a gear with 50 teeth, the second gear is a gear with 49 teeth, when the rotation angle position of the first gear 2 after power failure is an angle with 5 teeth, and when the rotation angle position of the second gear 3 after power failure is an angle with 4 teeth, the number of turns of the first gear 2 is 4+1/10 turns, the angle of the first gear 2 is 360 degrees/the number of teeth 5 of the first gear 2 is equal to 36 degrees, and according to the rotation angle of the reducer output shaft 7 (the angle of the first gear 2 +360 x the number of turns of the first gear 2)/the speed ratio, the rotation angle of the reducer output shaft 7 keeps two-digit decimal point equal to about 30.12 degrees.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (2)
1. A servo speed reduction motor turn number recording device comprises a motor body (6), wherein the motor body (6) comprises a shell, a stator and a rotor, the stator is positioned in the shell, the rotor is positioned in the stator, the motor body (6) is connected with a speed reducer (1), the speed reducer (1) comprises a speed reducer shell, a speed reducer gear set and a speed reducer output shaft (7), and the servo speed reduction motor turn number recording device is characterized in that a gear pair assembly is arranged on the rotor at the tail end of the motor body (6), the gear pair assembly comprises a first gear (2) and a second gear (3), the second gear (3) is positioned on one side of the first gear (2), the first gear (2) is meshed with the second gear (3) and is connected with the second gear (2), magnets (4) are arranged in the first gear (2) and the second gear (3), a circuit board (8) is arranged in the shell, a magnetic inductor (5) is arranged on the surface of the circuit board (8) facing the position, the magnetic inductor (5) is used for detecting the rotation change of the gear pair assembly.
2. A servo reducer motor cycle recording device according to claim 1, wherein the number of teeth of the second gear (3) is the same as the reducer speed ratio number, the number of teeth of the second gear (3) is n, and the number of teeth of the first gear (2) is n + 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011638459.6A CN112713719A (en) | 2020-12-31 | 2020-12-31 | Servo gear motor number of turns recorder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011638459.6A CN112713719A (en) | 2020-12-31 | 2020-12-31 | Servo gear motor number of turns recorder |
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| Publication Number | Publication Date |
|---|---|
| CN112713719A true CN112713719A (en) | 2021-04-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011638459.6A Pending CN112713719A (en) | 2020-12-31 | 2020-12-31 | Servo gear motor number of turns recorder |
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| Country | Link |
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| CN (1) | CN112713719A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113253111A (en) * | 2021-06-02 | 2021-08-13 | 常州市工业互联网研究院有限公司 | Intelligent motor detection device |
| WO2023221050A1 (en) * | 2022-05-19 | 2023-11-23 | 北京小米机器人技术有限公司 | Electric motor, robot, and method for measuring position of output end of electric motor |
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| CN207603395U (en) * | 2017-12-04 | 2018-07-10 | 台达电子工业股份有限公司 | Actuator module |
| CN109531617A (en) * | 2018-12-11 | 2019-03-29 | 广州启帆工业机器人有限公司 | A kind of integrated robot joint module |
| CN110635659A (en) * | 2019-10-29 | 2019-12-31 | 杭州北马科技有限公司 | Take integrative step motor of drive of many rings of feedback |
| CN213693388U (en) * | 2020-12-31 | 2021-07-13 | 意优智能科技(无锡)有限公司 | Servo gear motor number of turns recorder |
-
2020
- 2020-12-31 CN CN202011638459.6A patent/CN112713719A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207603395U (en) * | 2017-12-04 | 2018-07-10 | 台达电子工业股份有限公司 | Actuator module |
| CN109531617A (en) * | 2018-12-11 | 2019-03-29 | 广州启帆工业机器人有限公司 | A kind of integrated robot joint module |
| CN110635659A (en) * | 2019-10-29 | 2019-12-31 | 杭州北马科技有限公司 | Take integrative step motor of drive of many rings of feedback |
| CN213693388U (en) * | 2020-12-31 | 2021-07-13 | 意优智能科技(无锡)有限公司 | Servo gear motor number of turns recorder |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113253111A (en) * | 2021-06-02 | 2021-08-13 | 常州市工业互联网研究院有限公司 | Intelligent motor detection device |
| WO2023221050A1 (en) * | 2022-05-19 | 2023-11-23 | 北京小米机器人技术有限公司 | Electric motor, robot, and method for measuring position of output end of electric motor |
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Application publication date: 20210427 |
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| RJ01 | Rejection of invention patent application after publication |