| 摘要 |
An underwater servomotor includes: a motor 3 accommodated in a closed space defined by a casing 1 and a gear box 2 , and including a driving shaft 31 that is coupled to the gear box 2, an output shaft 4 and a sensing shaft 5 coupled to the gear box 2, the axis of the drive shaft and the sensor shaft being parallel to and non-coincident with each other. A magnetic element 6 is disposed at an end 51 of the sensing shaft 5 in the space has a magnetic field that varies in response to rotation of the driving shaft 31 the magnetic field acting on a magnetic angle sensor 7 which generates, based on a variation in the magnetic field, a feedback signal that indicates an angular position of the sensing shaft 5. A control module 8 drives the motor 3 based on the feedback signal and an external control signal, such that the driving shaft 31 is driven to rotate to a target angular position as indicated by the control signal. The output shaft 4 of the gear box may be coincident with the drive shaft or the sensor shaft. |
