CN106493753A - Grating speed-measuring structure, code-disc motor and robot - Google Patents
Grating speed-measuring structure, code-disc motor and robot Download PDFInfo
- Publication number
- CN106493753A CN106493753A CN201611226214.6A CN201611226214A CN106493753A CN 106493753 A CN106493753 A CN 106493753A CN 201611226214 A CN201611226214 A CN 201611226214A CN 106493753 A CN106493753 A CN 106493753A
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- encoder
- code
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- groove
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 49
- 238000009434 installation Methods 0.000 claims description 29
- 238000012360 testing method Methods 0.000 claims description 17
- 238000010079 rubber tapping Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 2
- 230000009087 cell motility Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
Abstract
The invention discloses grating speed-measuring structure, code-disc motor and robot, belong to robot field.The invention provides a kind of grating speed-measuring structure for being tested the speed to motor, including pedestal, code-disc, encoder and circuit board.Motor is fixedly installed on pedestal, and on the output shaft of motor, encoder is mounted on pedestal code-disc fixed cover with circuit board.Encoder is electrically connected with circuit board, and encoder is cooperated with code-disc.The present invention also provides a kind of code-disc motor, including direct current generator and grating speed-measuring structure.The present invention also provides a kind of robot, including robot body, moving cell, decelerator and code-disc motor.Grating speed-measuring structure, code-disc motor and the robot architecture that the present invention is provided is simple, easy to assembly, on the one hand can ensure the rate accuracy of microminiature direct current generator, on the other hand also allow for volume production.
Description
Technical field
The present invention relates to robot field, in particular to grating speed-measuring structure, code-disc motor and robot.
Background technology
Rotating speed is the of paramount importance state parameter of motor, and it is important performance indications of motor, holds it
The test and the accuracy of fault detection and diagnosis that have related parameter and characteristic；In closed loop speed control system, test the speed dress
Put and belong to feedback element, the control effect of the system that directly affects and dynamic and static state performance are referred to by the rapidity and precision of Rotating speed measring
Mark.
It is the scheme being dirt cheap to be tested the speed using grating, easily realizes, and the effect that tests the speed can expire within the specific limits
The most demand of foot.
But for hypomegetic direct current generator, as the diameter of output shaft is very tiny, code-disc also can be very little, and
Thickness is also very thin, and the A/F of the U-shaped encoder for testing the speed is also very narrow.Direct current generator output shaft is followed to rotate in code-disc
When, the also very little of the gap between code-disc and encoder.Due to the presence of mismachining tolerance, grating speed measuring device is in microminiature unidirectional current
There is a problem of testing the speed in the practice that machine tests the speed inaccurate.Same guarantee precision of the grating speed measuring device in installation process
There is certain difficulty.Such as, the skew of code-disc in the vertical direction can not too big, encoder must be strict parallel with code-disc, no
Then, code-disc easily encounters encoder when rotation, causes to test the speed inaccurate or breaks down.
Content of the invention
It is an object of the invention to provide a kind of grating speed-measuring structure, its simple structure, easy to assembly, it is easy to volume production.
Another object of the present invention is to provide a kind of code-disc motor, its simple structure, easy to assembly, it is easy to volume production.
Another object of the present invention is to provide a kind of robot, its simple structure, test the speed accurately.
A kind of technical scheme of offer of the invention：
A kind of grating speed-measuring structure, tests the speed for entering line raster to motor.Grating speed-measuring structure includes pedestal, code-disc, volume
Code device and circuit board, motor are fixedly installed on pedestal, and code-disc fixed cover is on the output shaft of motor.Encoder and circuit board
It is mounted on pedestal, encoder is electrically connected with circuit board.Encoder is cooperated with code-disc, to enter line raster survey to motor
Speed.
Further, the first installation portion and the second installation portion are provided with said base.First installation portion is connected with encoder
Connect, the second installation portion is connected with circuit board.
Further, above-mentioned first installation portion is the first draw-in groove, encoder and the first draw-in groove clamping.Second installation portion is the
Two draw-in groove, circuit board and the second draw-in groove clamping.First installation portion is used for regular coding device in a first direction, and the second installation portion is used
In regular coding device in a second direction.
Further, above-mentioned first draw-in groove is U-shaped.The U-shaped opening direction of the first draw-in groove is relative with code-disc, and encoder is fitted
On the medial wall of the first draw-in groove.Two relative support divisions of first draw-in groove are supported to encoder, with a first direction
Regular coding device.
Further, above-mentioned encoder is fixedly installed on circuit board, and the second draw-in groove is U-shaped.The openings of the second draw-in groove
To consistent with the output shaft of motor, and towards the first draw-in groove.Circuit board and the second draw-in groove clamping, encoder and the first draw-in groove card
Connect, with regular coding device in a second direction.
Further, above-mentioned grating speed-measuring structure also includes wheel cover.Wheel cover is fixedly installed in pedestal, and wheel cover is used for the 3rd
Regular coding device on direction.
Further, above-mentioned wheel cover is provided with protuberance.Pedestal and protuberance by encoder be held between the two, with
Regular coding device on third direction.
Further, above-mentioned wheel cover is fixedly installed in pedestal by self-tapping screw.
The present invention also provides another kind of technical scheme：
A kind of code-disc motor, including direct current generator and grating speed-measuring structure.Direct current generator is installed on pedestal, code-disc fixed cover
On the output shaft of direct current generator.Grating speed-measuring structure includes that pedestal, code-disc, encoder and circuit board, motor are fixedly mounted
On pedestal, code-disc fixed cover is on the output shaft of motor.Encoder and circuit board are mounted on pedestal, encoder and electricity
Road plate electrical connection.Encoder is cooperated with code-disc, is tested the speed with entering line raster to motor.
The present invention also provides another kind of technical scheme：
A kind of robot, including robot body, moving cell, decelerator and code-disc motor.Code-disc motor, including direct current
Motor and grating speed-measuring structure.Direct current generator is installed on pedestal, and code-disc fixed cover is on the output shaft of direct current generator.Robot
Body is connected with moving cell, and code-disc motor is installed on inside robot body, and code-disc motor is connected with decelerator, is slowed down
The output shaft of device is connected with moving cell, and drives moving cell to move.
Compared to existing technology, the beneficial effect of grating speed-measuring structure, code-disc motor and robot that the present invention is provided is：
Encoder is installed on pedestal, and is fixed on pedestal.When code-disc follows the output shaft rotation of motor, encoder and base
Seat and motor keep geo-stationary.Encoder remains constant relative to the position relationship of code-disc, so that grating tests the speed more
Plus accurately.Encoder and circuit board can also be advantageously mounted on pedestal simultaneously, further increase the group of grating speed-measuring structure
Dress efficiency, so as to one side can ensure the rate accuracy of hypomegetic direct current generator, on the other hand also allows for volume production.
Description of the drawings
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below by to be used attached needed for embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, and it is right to be therefore not construed as
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can be with according to this
A little accompanying drawings obtain other related accompanying drawings.
The structural representation of the grating speed-measuring structure that Fig. 1 is provided for first embodiment of the invention；
Fig. 2 is the mplifying structure schematic diagram in Fig. 1 at II；
Encoder and the mounting structure schematic diagram of circuit board that Fig. 3 is provided for first embodiment of the invention；
The first installation portion and the structural representation of the second installation portion that Fig. 4 is provided for first embodiment of the invention.
Icon：100- grating speed-measuring structures；110- pedestals；The first installation portions of 112-；The second installation portions of 114-；120- direct currents
Motor；130- code-discs；140- encoders；150- circuit boards；160- wheel covers；161- protuberances.
Specific embodiment
Purpose, technical scheme and advantage for making the embodiment of the present invention is clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, to the embodiment of the present invention in technical scheme be clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention, rather than whole embodiments.Present invention enforcement generally described and illustrated in accompanying drawing herein
The component of example can be arranged and be designed with a variety of configurations.
Therefore, below the detailed description of the embodiments of the invention for providing in the accompanying drawings is not intended to limit claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Embodiment in based on the present invention, this area are common
The every other embodiment obtained under the premise of creative work is not made by technical staff, belongs to the model of present invention protection
Enclose.
It should be noted that：Similar label and letter represent similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then in subsequent accompanying drawing which further need not be defined and be explained.
In describing the invention, it should be noted that term " on ", " interior ", " outward ", etc. the orientation of instruction or position close
System be based on orientation shown in the drawings or position relationship, or the invention product using when the orientation usually put or position close
System, is for only for ease of description description of the invention and simplified, rather than indicates or imply that the device or element of indication must have
Specific orientation, with specific azimuth configuration and operation, be therefore not considered as limiting the invention.
Additionally, term " first " and " second " etc. are only used for distinguishing description, and it is not intended that indicating or implying relatively heavy
The property wanted.
In describing the invention, in addition it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" installation ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or integratedly connect
Connect；Can be mechanically connected, or electrically connect；Can be directly connected to, it is also possible to be indirectly connected with by intermediary, can
Being the connection of two element internals.For the ordinary skill in the art, above-mentioned term can be understood with concrete condition
Concrete meaning in the present invention.
Below in conjunction with the accompanying drawings, embodiments of the present invention are elaborated.
First embodiment
Fig. 1 is referred to, a kind of grating speed-measuring structure 100 is present embodiments provided, its simple structure, easy to assembly, it is suitable for
In accurately testing the speed to micro motor.
Fig. 2 is referred to, the grating speed-measuring structure 100 that the present embodiment is provided tests the speed for entering line raster to direct current generator 120,
Including pedestal 110, code-disc 130, encoder 140 and circuit board 150.Direct current generator 120 is fixedly installed on pedestal 110, code-disc
On the output shaft of direct current generator 120, encoder 140 is mounted on pedestal 110 130 fixed covers with circuit board 150.Coding
Device 140 is electrically connected with circuit board 150, and encoder 140 is cooperated with code-disc 130, to enter line raster survey to direct current generator 120
Speed.
It can be glue bond that code-disc 130 is sheathed on the mode of 120 output shaft of direct current generator, and code-disc 130 is sheathed on motor
Output shaft is simultaneously rotated with the output shaft.The output shaft of direct current generator 120 through code-disc 130 center, make code-disc 130 with
Motor does not shift during rotating.
Encoder 140 is installed on pedestal 110, and its mounting means can be bonded, or snap connection or pass through
Connector connection etc..In the present embodiment, encoder 140 is U-shaped, and the opening direction of the encoder 140 of U-shaped and code-disc 130
Diametric(al) consistent.U-shaped encoder 140 to be opened on code-disc 130 relative, and the subregion of code-disc 130 is located at the opening
Interior, so as to realize the measurement to 120 rotating speed of direct current generator.
Simultaneously it should be understood that the implication that code-disc 130 and circuit board 150 are installed on pedestal 110 is merely representative of code-disc 130
Static relative to pedestal 110 with circuit board 150.Code-disc 130 and circuit board 150 can be directly mounted on pedestal 110, it is also possible to
Used middleware is installed on pedestal 110.In the present embodiment, code-disc 130 and circuit board 150 are directly mounted at pedestal 110
On.Certainly, it is not limited to that, in other embodiments of the invention, code-disc 130 and circuit board 150 can also pass through centre
Part is installed on pedestal 110.As circuit board 150 may be mounted at the (shell of direct current generator 120 on the shell of direct current generator 120
It is installed on pedestal 110, which is static relative to pedestal 110.Circuit board 150 is exactly installed by 120 shell of direct current generator
Middleware on pedestal 110), or circuit board 150 and code-disc 130 be installed on the shell of direct current generator 120.
In order that grating tests the speed more accurately, need to code-disc 130 and encoder 140 in 120 running of direct current generator
Relative displacement be controlled.Hour is got in the change that the relative position of code-disc 130 and encoder 140 occurs, its essence for measuring
Degree is higher.
Fig. 3 is referred to, encoder 140 is fixed, mainly carried out from three directions, i.e. first direction, second party
To and third direction.First direction is the bearing of trend of the output shaft along direct current generator 120；Second direction is perpendicular to first party
To, i.e., perpendicular to the direction of 120 output shaft of direct current generator, namely the diametric(al) of code-disc 130；Third direction is perpendicular to pedestal
110 direction.
Fig. 4, the specific embodiment party that the present embodiment described further below is fixed from three directions is referred to encoder 140
Formula.
In the present embodiment, the first installation portion 112 and the second installation portion 114 are provided with pedestal 110.First installation portion
112 are connected with encoder 140, and the second installation portion 114 is connected with circuit board 150.
In the present embodiment, the first installation portion 112 is the first draw-in groove, and the second installation portion 114 is the second draw-in groove；Encoder
140 and the first draw-in groove clamping, circuit board 150 and the second draw-in groove clamping.First installation portion 112 is used for fixed in a first direction volume
Code device 140, the second installation portion 114 are used for regular coding device 140 in a second direction.
In the present embodiment, the first draw-in groove is U-shaped, and the U-shaped opening direction of the first draw-in groove is relative with code-disc 130.Encoder
140 fit on the medial wall of the first draw-in groove of U-shaped, and two relative support divisions of the first draw-in groove are supported to encoder 140,
With the upper regular coding device 140 (along the direction of 120 output shaft of direct current generator) in a first direction.I.e. the first draw-in groove makes encoder 140
Will not be subjected to displacement along the output direction of principal axis of direct current generator 120.
In the present embodiment, encoder 140 is fixedly installed on circuit board 150, and the second draw-in groove is also U-shaped.Encoder 140
It is fixedly installed on circuit board 150 primarily to encoder 140 and circuit board 150 are connected into an entirety, and make both
Kinestate consistent.Certainly, both mounting means can have multiple, such as bonding connection or connected by middleware.The
The opening direction of two draw-in groove is consistent with the output shaft of direct current generator 120, i.e. the opening direction of the second draw-in groove and the second draw-in groove is opened
Mouth is mutually perpendicular between direction, and the opening direction of the second draw-in groove is towards the first draw-in groove.In the present embodiment, the second card of U-shaped
Groove is connected with the first draw-in groove base near the lateral section of the first draw-in groove.It is provided with for connection encoder on the first draw-in groove base
140 breach (non-label in figure) accommodating with the middleware of circuit board 150, while the breach is also possible to prevent 150 He of circuit board
The connector of the composition of encoder 140 is moved in a first direction.Circuit board 150 is fastened in and is balanced each other by the second draw-in groove of U-shaped
Hold between portion, so as in the upper fixing circuit board 150, Jin Er of second direction (perpendicular to direction of 120 output shaft of direct current generator)
Regular coding device 140 in second direction.That is the second draw-in groove makes encoder 140 export direction of principal axis along perpendicular to direct current generator 120
Will not be subjected to displacement.
In the present embodiment, for making encoder 140 realize fixing on third direction, grating speed-measuring structure 100 also includes
The wheel cover 160 being installed on pedestal 110.
In the present embodiment, the mode that wheel cover 160 is installed on pedestal 110 is by self-tapping screw.It is of course not solely limited to
This, in other embodiments of the invention, its mounting means can also be other, and such as both mutually bond.
Protuberance 161 is provided with wheel cover 160, and it is empty that the part relative with protuberance 161 of pedestal 110 forms a clamping
Between, and encoder 140 is held in grasping part, with regular coding device 140 on third direction.
To sum up, encoder 140 and the first draw-in groove clamping, it is achieved that regular coding device 140 in a first direction；Encoder
140 are connected with circuit board 150, circuit board 150 and the second draw-in groove clamping, it is achieved that regular coding device 140 in a second direction；Wheel
The protuberance 161 of cover 160 is held on encoder 140 in the grasping part for being formed between the two with pedestal 110, it is achieved that the
Tripartite's regular coding device 140 upwards.
The beneficial effect of grating speed-measuring structure 100 that the present embodiment is provided is：Encoder 140 is installed on pedestal 110, and solid
Schedule pedestal 110.When code-disc 130 follows the output shaft rotation of direct current generator 120, encoder 140 and pedestal 110 and unidirectional current
Machine 120 keeps geo-stationary.Encoder 140 remains constant relative to the position relationship of code-disc 130, so that grating tests the speed
More accurate.Encoder 140 and circuit board 150 can also be advantageously mounted on pedestal 110 simultaneously, test the speed so as to improve grating
The packaging efficiency of structure 100.So as to one side can ensure the rate accuracy of hypomegetic direct current generator 120, on the other hand also just
In volume production.
Second embodiment
A kind of code-disc motor (attached not shown) is present embodiments provided, its simple structure is easy to assembly, it is adaptable to microminiature
The equipment such as robot.
The code-disc motor that the present embodiment is provided includes the grating speed-measuring structure that direct current generator 120 and first embodiment are provided
100.Direct current generator 120 is installed on pedestal 110, and 130 fixed cover of code-disc is on the output shaft of direct current generator 120.
The mounting means of direct current generator 120 can be bolt connection, or snap connection.In the present embodiment,
Its mounting means is to be fixedly installed on pedestal 110 by self-tapping screw.
3rd embodiment
The present embodiment provides a kind of robot (attached not shown), and which is easy to assembly, tests the speed accurately.
The robot that the present embodiment is provided includes what robot body, moving cell, decelerator and second embodiment were provided
Code-disc motor.Code-disc motor is rotated with decelerator and is connected, and the output shaft of decelerator is connected with moving cell, and drives motion
Unit motion, and then move robot body.
The preferred embodiments of the present invention are the foregoing is only, the present invention is not limited to, for the skill of this area
For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of grating speed-measuring structure, tests the speed for entering line raster to motor, it is characterised in that the grating speed-measuring structure includes
Pedestal, code-disc, encoder and circuit board, the motor are fixedly installed on the pedestal, and code-disc fixed cover is located at the motor
Output shaft on, the encoder is mounted on the pedestal with the circuit board, the encoder and the circuit board electricity
Connection, the encoder are cooperated with the code-disc, are tested the speed with entering line raster to the motor.
2. grating speed-measuring structure according to claim 1, it is characterised in that be provided with the pedestal the first installation portion and
Second installation portion, first installation portion are connected with the encoder, and second installation portion is connected with the circuit board.
3. grating speed-measuring structure according to claim 2, it is characterised in that first installation portion is the first draw-in groove, institute
Encoder and the first draw-in groove clamping is stated, second installation portion is the second draw-in groove, the circuit board and second draw-in groove
Clamping, first installation portion are used for fixing the encoder in a first direction, and second installation portion is used in second party
The encoder is fixed upwards.
4. grating speed-measuring structure according to claim 3, it is characterised in that first draw-in groove is U-shaped, first card
The U-shaped opening direction of groove is relative with the code-disc, and the encoder is fitted on the medial wall of first draw-in groove, and described first
Two relative support divisions of draw-in groove are supported to the encoder, to fix the encoder in said first direction.
5. grating speed-measuring structure according to claim 4, it is characterised in that the encoder is fixedly installed in the circuit
On plate, second draw-in groove is U-shaped, and the opening direction of second draw-in groove is consistent with the output shaft of the motor, and towards institute
The first draw-in groove, the circuit board and the second draw-in groove clamping, the encoder and the first draw-in groove clamping is stated, with described
The encoder is fixed in second direction.
6. grating speed-measuring structure according to claim 2, it is characterised in that the grating speed-measuring structure also includes wheel cover,
The wheel cover is fixedly installed in the pedestal, and the wheel cover is used for fixing the encoder on third direction.
7. grating speed-measuring structure according to claim 6, it is characterised in that the wheel cover is provided with protuberance, the base
The encoder is held between the two by seat and the protuberance, to fix the encoder on the third direction.
8. grating speed-measuring structure according to claim 6, it is characterised in that the wheel cover is fixedly mounted by self-tapping screw
In the pedestal.
9. a kind of code-disc motor, it is characterised in that survey including the grating described in any one in direct current generator and claim 1-8
Fast structure, the direct current generator are installed on the pedestal, and the code-disc fixed cover is on the output shaft of the direct current generator.
10. a kind of robot, it is characterised in that including robot body, moving cell, decelerator and as claimed in claim 9
Code-disc motor, the robot body is connected with the moving cell, and the code-disc motor is installed on the robot body
Inside, the code-disc motor are connected with the decelerator, and the output shaft of the decelerator is connected with moving cell, and
Drive the moving cell motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611226214.6A CN106493753B (en) | 2016-12-27 | 2016-12-27 | Grating speed-measuring structure, code-disc motor and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611226214.6A CN106493753B (en) | 2016-12-27 | 2016-12-27 | Grating speed-measuring structure, code-disc motor and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106493753A true CN106493753A (en) | 2017-03-15 |
| CN106493753B CN106493753B (en) | 2019-07-02 |
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ID=58334187
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611226214.6A Active CN106493753B (en) | 2016-12-27 | 2016-12-27 | Grating speed-measuring structure, code-disc motor and robot |
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|---|---|---|---|---|
| CN203537182U (en) * | 2013-11-22 | 2014-04-09 | 乐清市中洋电子科技有限公司 | Integral structure of servo motor and servo coder |
| CN204142746U (en) * | 2014-08-15 | 2015-02-04 | 中国计量学院 | The speed encoder mounting structure of a kind of AGV |
| US20150100159A1 (en) * | 2013-10-07 | 2015-04-09 | Jung-Jun Park | Actuator unit, robot including the same, and reducing apparatus |
| CN204528977U (en) * | 2015-04-15 | 2015-08-05 | 宁波联合蓝光科技有限公司 | The pedestal of express elevator coder |
| CN205120135U (en) * | 2015-10-27 | 2016-03-30 | 浙江琦星电子有限公司 | Coder |
| CN105459149A (en) * | 2016-01-25 | 2016-04-06 | 珠海格力电器股份有限公司 | Robot and robot joint thereof |
| CN105835039A (en) * | 2016-05-19 | 2016-08-10 | 深圳市越疆科技有限公司 | Integrated base and robot |
| CN206344177U (en) * | 2016-12-27 | 2017-07-21 | 上海归墟电子科技有限公司 | Grating speed-measuring structure, code-disc motor and robot |
-
2016
- 2016-12-27 CN CN201611226214.6A patent/CN106493753B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150100159A1 (en) * | 2013-10-07 | 2015-04-09 | Jung-Jun Park | Actuator unit, robot including the same, and reducing apparatus |
| CN203537182U (en) * | 2013-11-22 | 2014-04-09 | 乐清市中洋电子科技有限公司 | Integral structure of servo motor and servo coder |
| CN204142746U (en) * | 2014-08-15 | 2015-02-04 | 中国计量学院 | The speed encoder mounting structure of a kind of AGV |
| CN204528977U (en) * | 2015-04-15 | 2015-08-05 | 宁波联合蓝光科技有限公司 | The pedestal of express elevator coder |
| CN205120135U (en) * | 2015-10-27 | 2016-03-30 | 浙江琦星电子有限公司 | Coder |
| CN105459149A (en) * | 2016-01-25 | 2016-04-06 | 珠海格力电器股份有限公司 | Robot and robot joint thereof |
| CN105835039A (en) * | 2016-05-19 | 2016-08-10 | 深圳市越疆科技有限公司 | Integrated base and robot |
| CN206344177U (en) * | 2016-12-27 | 2017-07-21 | 上海归墟电子科技有限公司 | Grating speed-measuring structure, code-disc motor and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106493753B (en) | 2019-07-02 |
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