CN207603395U - Actuator module - Google Patents
Actuator module Download PDFInfo
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- CN207603395U CN207603395U CN201721665043.7U CN201721665043U CN207603395U CN 207603395 U CN207603395 U CN 207603395U CN 201721665043 U CN201721665043 U CN 201721665043U CN 207603395 U CN207603395 U CN 207603395U
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- gear
- output section
- input shaft
- actuator module
- encoder
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Abstract
The utility model provides a kind of actuator module, and it includes motor, speed reducer and angle sensing components.Motor includes stator, rotor, input shaft and encoder, and rotor is using the magnetic field reciprocation between stator and with driven input shaft synchronous rotary, and encoder is detecting rotation angle of the input shaft in individual pen；Speed reducer is set on the first side of motor and is connect with input shaft group, and comprising rotatable output section, and speed reducer makes output section correspond to the rotary speed of input shaft and is rotated in deceleration according to reduction ratio；Angle sensing component is included by gear assembly and optical encoders, angle sensors, gear assembly is engaged on the engaging section of output section and is driven and rotated by output section, and there is gear ratio between gear assembly and engaging section, optical encoders, angle sensors are set on gear, to detect total rotation angle of gear assembly.
Description
Technical field
The utility model is related to a kind of actuator modules more particularly to one kind to have speed reducer and motor, and can power off discipline
The total rotation angle of output section and then the total rotation angle for the input shaft for obtaining motor of speed reducer are recorded, motor of thus arranging in pairs or groups
Encoder obtains the actuator module of the multi-turn absolute position of output section.
Background technology
In general, motor includes high rotating speed and the small characteristic of torsion, therefore the large-scale load of driving is not easy, therefore works as motor
It when being intended to be used in promotion weight, just must be slowed down using speed reducer, thus improve torsion, therefore it is to examine to have part dealer at present
Consider and motor is combined into actuator module to use with speed reducer.
In order to monitor the running of motor and speed reducer, to carry out corresponding control, just motor must be used for provide power
Input shaft carries out the detection of rotation angle, while the multi-turn absolute position of the rotatable output section of speed reducer is detected.So
And in the prior art, all only disclose with encoder come the input shaft of the motor for single structure is carried out the detection of rotation angle into
Row monitoring, the relevant technologies not being detected to the multi-turn absolute position of the output section of speed reducer.It can attempt in actuating
Another encoder is additionally set directly to be detected to the multi-turn absolute position of the output section of speed reducer in device module again, but
Face many problems.First, in order to directly detect the multi-turn absolute position of the output section of speed reducer, the coding additionally set
The resolution needs of device are higher, and the cost of the right encoder is also relatively high, and leading to actuator module, increased production cost.Again
Person, the encoder of tool directly detection multi-turn absolute position function do not have power-off record function in other words, this coding usually
Device on using must additional carry battery again, if therefore directly detecting the more of the output section of speed reducer using this encoder
Absolute position is enclosed, will so that actuator module convenience on using is very bad, production cost is again opposite to be improved.
Therefore, how to develop a kind of actuator module for improving above-mentioned prior art defect, actually correlative technology field
The problem of current institute of person is in the urgent need to address.
Utility model content
The purpose of this utility model is to provide a kind of actuator module, by including gear assembly and optical encoders, angle sensors
Angle sensing component to detect total rotation angle of the output section of speed reducer, and examine the defeated of motor using the encoder of motor
Enter rotation angle of the axis in individual pen, and then speed reducer can be obtained according to the sensing result of angle sensing component and encoder
Output section multi-turn absolute position so that the actuator module of the utility model can reach power-off record function, production cost
The effect of reduction and convenience are good.
In order to achieve the above object, a broader embodiment of the utility model is to provide a kind of actuator module, it includes
Motor, speed reducer and angle sensing component.Motor includes stator, rotor, input shaft and encoder, and rotor is utilized between stator
Magnetic field reciprocation and with driven input shaft synchronous rotary, encoder is adjacent with input shaft to be set, to detect input shaft in individual pen
Interior rotation angle；Speed reducer is set on the first side of motor and is connect with input shaft group, and comprising rotatable output section, subtract
Fast machine makes output section correspond to the rotary speed of input shaft and is rotated in deceleration according to reduction ratio；Angle sensing component is included by least
The gear assembly and at least an optical encoders, angle sensors, gear assembly are engaged on the engaging section of output section and defeated that one gear is formed
Go out portion's drive to be rotated, and there is gear ratio between gear assembly and engaging section, make the rotating speed of gear assembly according to gear ratio
And slow down relative to the rotating speed of output section, optical encoders, angle sensors are set on gear, to detect total rotation of gear assembly
Angle.
A kind of exemplary embodiment according to the present utility model, the encoder are increased by an individual pen absolute encoder or an individual pen
Amount type encoder is formed.
A kind of exemplary embodiment according to the present utility model, the stator are located at the opposite exterior lateral sides of the motor, the rotor position
It is connected with group in the relative inner of the motor, and with the input shaft.
A kind of exemplary embodiment according to the present utility model, the optical encoders, angle sensors are compiled by an optical encoder, a magnetic-type
Code device or a Wiegand sensor are formed.
A kind of exemplary embodiment according to the present utility model, the output section include an output shaft, are extended by the output section
And go out, and rotated synchronously with the output section, which includes a hollow structure, corresponding with the position of the output shaft, to
It when the speed reducer is set on first side, is worn for the output shaft, wherein the output shaft wears and houses the hollow structure
When, a first end of the output shaft protrudes from first side, and a second end of the output shaft protrudes from and the first side phase
To the motor a second side.
A kind of exemplary embodiment according to the present utility model, the angle sensing component is adjacent with the second side to be set, and is somebody's turn to do
Engaging section is formed on the second end of the output shaft.
A kind of exemplary embodiment according to the present utility model, the first side is adjacent sets with this for the angle sensing component, and is somebody's turn to do
Engaging section is formed on the output section.
A kind of exemplary embodiment according to the present utility model, the number of the gear is multiple, and in multiple gears extremely
Few gear is engaged on the output section, and remaining each gear is engaged on other corresponding gears, and the tooth
Number is than the number of teeth relationship corresponding to multiple gears.
A kind of exemplary embodiment according to the present utility model, the optical encoders, angle sensors have multiple, and each angle sense
Device is surveyed to be set on the corresponding gear.
A kind of exemplary embodiment according to the present utility model, the optical encoders, angle sensors have multiple, and each angle sense
Device is surveyed to be set on the corresponding gear.
A kind of exemplary embodiment according to the present utility model, the number of the gear is one, and the gear is engaged in this
On output section, and the gear ratio corresponds to the number of teeth of the gear.
The beneficial effects of the utility model are that actuator module provided by the utility model, the actuator module includes
Motor and speed reducer, and the output section of speed reducer sets angled sensing component, thus obtains horse using angle sensing component
Total rotating cycle of the input shaft reached, and using the rotation angle in the individual pen that is obtained of encoder of motor, to be inputted
The multi-turn absolute position of axis, and then the multi-turn absolute position of the output section of speed reducer is can be derived from, therefore the actuator of the utility model
Module can reach power-off record output section multi-turn absolute position and practical degree preferably and production cost it is also relatively low the effect of.
Description of the drawings
Fig. 1 is the structuring concept schematic diagram of the actuator module of the first preferred embodiment of the utility model.
Fig. 2 is the practical structures diagrammatic cross-section of actuator module shown in FIG. 1.
Fig. 3 is the stereochemical structure schematic side view of actuator module shown in Fig. 2.
Fig. 4 is the stereochemical structure schematic side view of another change case of actuator module shown in Fig. 3.
Fig. 5 is the structuring concept schematic diagram of another change case of actuator module shown in FIG. 1.
Reference numeral is as follows：
1：Actuator module
2：Motor
20：Stator
21：Rotor
22：Input shaft
23：Encoder
3：Speed reducer
30：Output section
300：Engaging section
301：Output shaft
4：Angle sensing component
40：Gear assembly
400：Gear
41：Optical encoders, angle sensors
Specific embodiment
Embodying some exemplary embodiments of the utility model features and advantages will in detail describe in the explanation of back segment.Ying Li
Solution is that the utility model can have various variations in different modes, does not all depart from the scope of the utility model,
And explanation therein and diagram are illustrated as being used in itself, and nand architecture is in limitation the utility model.
It please refers to Fig.1, Fig. 2 and Fig. 3, wherein Fig. 1 are the actuator module of the first preferred embodiment of the utility model
Structuring concept schematic diagram, Fig. 2 are the practical structures diagrammatic cross-section of actuator module shown in FIG. 1, and Fig. 3 is cause shown in Fig. 2
The practical structures schematic side view of dynamic device module.As shown in Figure 1-Figure 3, the actuator module 1 of the present embodiment can be applied to various
It in mechanical device, preferably applies in robot device, such as is set to the joint of the robotic arm of robot device.It causes
Dynamic device module 1 includes motor 2, speed reducer 3 and angle sensing component 4.
Motor 2 be belong to actuator module 1 enter power side, and include stator 20, rotor 21, input shaft 22 and encoder
23.Stator 20 is located at the opposite exterior lateral sides of motor 2, and may include coil (not shown).Rotor 21 is located at the relative inner of motor 2,
That is, in stator 20, and rotor 21 is connected with group with input shaft 22, and may include magnet (not shown), and rotor 21 is using with determining
Son 20 between magnetic field reciprocation and rotated, and then with 22 synchronous rotary of driven input shaft.Encoder 23 and 22 phase of input shaft
Neighbour sets, to detect rotation angle of the input shaft 22 in individual pen.
In some embodiments, encoder 23 can be but be not limited to by individual pen absolute encoder or individual pen incremental encoder
Deng being formed.In addition, encoder 23 can be connected on input shaft 22 or separately be set with input shaft 22.
Speed reducer 3 is the output side for belonging to actuator module 1, and is set on the first side of motor 2, and with input shaft 22
It is connected with group, in addition, speed reducer 3, also comprising rotatable output section 30, speed reducer 3 is to correspond to output section 30 according to a reduction ratio
It is rotated in deceleration in the rotary speed of input shaft 22.In addition, output section 30 also includes the engaging section 300 with teeth portion (such as Fig. 3 institutes
Show).
In some embodiments, as shown in Figures 1 and 2, output section 30 also comprising output shaft 301, is extended by output section 30
And go out, therefore output shaft 301 is rotated synchronously with output section 30.In addition, input shaft 22 includes hollow structure, it is and output shaft 301
Position is corresponding, when speed reducer 3 is set on the first side of motor, to be worn for output shaft 301, wherein working as output shaft
301 when wearing and being placed in the hollow structure of input shaft 22, and the first end of output shaft 301 protrudes from the first side of motor, defeated
The second end of shaft 301 protrudes from the second side of the motor 2 opposite with the first side.Furthermore engaging section 300 can actually be formed
In on the second end of output shaft 301, but not limited to this.
Angle sensing component 4 is included by gear assembly 40 and at least one that at least a gear 400 (as shown in Figure 3) is formed
Optical encoders, angle sensors 41.Gear assembly 40 is engaged on the engaging section 300 of output section 30 and is driven and rotated by output section 30, and
Between gear assembly 40 and engaging section 300 there is gear ratio, make the rotating speed of gear assembly 40 according to gear ratio and relative to output
The rotating speed in portion 30 slows down.Optical encoders, angle sensors 41 are set on gear 400, to detect the gear 400 of gear assembly 40
Total rotation angle has total rotating cycle of the input shaft 22 of correspondence this makes it possible to obtain total rotating cycle with output section 30.
In above-described embodiment, optical encoders, angle sensors 41 can be but be not limited to by optical encoder, magnetic encoder or Wiegand
Sensor is formed.In addition, as shown in Figure 1, angle sensing component 4 adjacent with the second side of motor 2 can be set, therefore gear assembly 40
Gear 400 be actually engaged in output shaft 301 the engaging section 300 of the second end on.
How the actuator module 1 for illustrating the utility model is obtained the absolute position of multi-turn of output section 30 by following demonstration
It puts.First, by the testing result of encoder 23, rotation angle of the input shaft 22 in individual pen is can obtain, is assumed to be θ 1 in this.
In addition, the optical encoders, angle sensors 41 of angle sensing component 4 can also sense total rotation angle of gear assembly 40, it is assumed to be θ in this
2, therefore total rotating cycle of gear assembly 40 is equal to 360 ° of 2 ÷ of θ, but because gear assembly 40 and output section 30 engaging section 300 it
Between there is gear ratio, in this hypothesis gear ratio ratio for t, therefore can output section 30 be pushed away to obtain by total rotating cycle of gear assembly 40
Total rotating cycle of (or output shaft 301) is equal to (360 ° of 2 ÷ of θ) ÷ t, separately because speed reducer 3 is to make output section according to reduction ratio
30 (or output shafts 301) are rotated in deceleration corresponding to the rotary speed of input shaft 22, if therefore assume the reduction ratio of speed reducer 3 for r,
Total rotating cycle n=(360 ° of 2 ÷ of θ) ÷ t the ÷ r, wherein n that then can be derived from input shaft 22 are total rotating cycle of input shaft 22,
Thus, you can the multi-turn absolute position for obtaining input shaft 22 is 360 ° × n+ θ 1, as the absolute position of multi-turn of output section 30
Putting can also be obtained, i.e. θ=(360 ° × n+ θ 1) ÷ r by the multi-turn absolute position divided by reduction ratio of input shaft 22, and wherein θ is input
The multi-turn absolute position of axis 22.
For example, when the gear ratio of gear assembly 40 and the engaging section 300 of output section 30 is 16:1, then represent angle sense
It surveys device 41 and can sense output section 30 and rotate in the forward direction 8 circles or reversely rotate the total rotation angle in the range of 8 circles, and if speed reducer
Reduction ratio is 100:1, then optical encoders, angle sensors 41 only need the resolution of 16 × more than 100=1600, you can analysis input shaft 22
Multi-turn absolute position, and then learn the multi-turn absolute position of output section 30 (or output shaft 301).In above-described embodiment, when
Gear assembly 40 is lower with the gear ratio of the engaging section 300 of output section 30, then the resolution needed for optical encoders, angle sensors 41 is higher, instead
It, when gear assembly 40 and the gear ratio of the engaging section 300 of output section 30 are higher, then the resolution needed for optical encoders, angle sensors 41 is got over
It is low.
From the foregoing, it will be observed that since the actuator module 1 of the utility model is that setting includes gear in the output section of speed reducer 3 30
The angle sensing component 4 of component 40 and optical encoders, angle sensors 41, thus, which the actuator module 1 of the utility model not only can profit
With the sensing of optical encoders, angle sensors 41 as a result, and coordinate motor 1 encoder 23 it is sensing as a result, to obtain input shaft 22
Multi-turn absolute position, and then learn the multi-turn absolute position of output section 30 (or output shaft 301), and due to the cause of the utility model
Dynamic device module 1 is to carry out the detection of angle using gear assembly 40 and optical encoders, angle sensors 41, and so there is no need to additional carry batteries to be
The effect of can reach power-off record so that practical degree is preferable, and production cost is also relatively low, furthermore, since angle sensing component 4 is set
On the output section of speed reducer 3 30, and coordinate the encoder 23 of motor 1 sensing result come obtain output section 30 (or output
Axis 301) multi-turn absolute position, angle sensing component 4 and it is indirect detection speed reducer 3 output section 30 the absolute position of multi-turn
It puts, therefore the actuator module 1 of the utility model can use resolution poor, but the optical encoders, angle sensors 41 of cost inexpensively
In the case of, it is absolute still accurately to obtain the multi-turn of output section 30 (or output shaft 301) by coordinating the encoder 23 of motor 1
Position, therefore the production cost of the actuator module 1 of the utility model opposite can be reduced.
In some embodiments, as shown in figure 3, the number of gear 400 can be multiple, and at least one in multiple gears 400
A gear 400 is engaged on the output shaft 301 of output section 30, and remaining each gear 400 is engaged in other corresponding gears 400
On, and the number of teeth that the gear ratio between gear assembly 40 and the engaging section of output section 30 300 corresponds between multiple gears 400 is closed
System.In addition, optical encoders, angle sensors 41 can also have multiple, and each optical encoders, angle sensors 41 may be disposed on corresponding gear 400.
Certainly, as shown in figure 4, the number of gear 400 also can be one, and gear 400 is engaged in the output of output section 30
On axis 301, and the gear ratio between gear assembly 40 and the engaging section of output section 30 300 corresponds to the number of teeth of gear 400.
In addition, angle sensing component 4 be not limited to it is adjacent with the second side of motor 2 set, in other embodiments, such as scheme
Shown in 5, angle sensing component 4 adjacent with the first side of motor 2 can also be set, at this time output section 30 can need not comprising output shaft 301,
And directly comprising engaging section 300, therefore gear assembly 40 is just engaged on the engaging section 300 of output section 30.
In conclusion the utility model provides a kind of actuator module, which includes motor and speed reducer, and
The output section of speed reducer sets angled sensing component, and total rotation of the input shaft of motor is thus obtained using angle sensing component
It turn-takes number, and using the rotation angle in the individual pen that is obtained of encoder of motor, to obtain the multi-turn absolute position of input shaft,
And then the multi-turn absolute position of the output section of speed reducer is can be derived from, therefore the actuator module of the utility model can reach power-off record
The effect of multi-turn absolute position and practical degree of output section are preferably and production cost is also relatively low.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721665043.7U CN207603395U (en) | 2017-12-04 | 2017-12-04 | Actuator module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721665043.7U CN207603395U (en) | 2017-12-04 | 2017-12-04 | Actuator module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207603395U true CN207603395U (en) | 2018-07-10 |
Family
ID=62763087
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721665043.7U Active CN207603395U (en) | 2017-12-04 | 2017-12-04 | Actuator module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207603395U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109286296A (en) * | 2018-11-28 | 2019-01-29 | 华南智能机器人创新研究院 | A kind of wheeled brushed DC motor of cycloidal pin |
| CN110553621A (en) * | 2019-09-20 | 2019-12-10 | 中国北方车辆研究所 | High-precision turret angle measurement system and method free of power failure influence |
| CN112713719A (en) * | 2020-12-31 | 2021-04-27 | 意优智能科技(无锡)有限公司 | Servo gear motor number of turns recorder |
-
2017
- 2017-12-04 CN CN201721665043.7U patent/CN207603395U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109286296A (en) * | 2018-11-28 | 2019-01-29 | 华南智能机器人创新研究院 | A kind of wheeled brushed DC motor of cycloidal pin |
| CN110553621A (en) * | 2019-09-20 | 2019-12-10 | 中国北方车辆研究所 | High-precision turret angle measurement system and method free of power failure influence |
| CN110553621B (en) * | 2019-09-20 | 2021-12-07 | 中国北方车辆研究所 | High-precision turret angle measurement system and method free of power failure influence |
| CN112713719A (en) * | 2020-12-31 | 2021-04-27 | 意优智能科技(无锡)有限公司 | Servo gear motor number of turns recorder |
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