CN108444501A - A kind of ultra-thin encoder - Google Patents
A kind of ultra-thin encoder Download PDFInfo
- Publication number
- CN108444501A CN108444501A CN201810478404.XA CN201810478404A CN108444501A CN 108444501 A CN108444501 A CN 108444501A CN 201810478404 A CN201810478404 A CN 201810478404A CN 108444501 A CN108444501 A CN 108444501A
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- Prior art keywords
- moving plate
- quiet disk
- ultra
- unit
- thin
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The present invention relates to a kind of ultra-thin encoders, including Moving plate and quiet disk；The Moving plate and quiet disk are printed with circuit respectively；The Moving plate is coaxially disposed with quiet disk；It further include rotating member；The Moving plate is installed on rotating member；At least provided with transmitter unit, receiving unit and insulating unit on the quiet disk；The receiving unit is coaxially disposed with transmitter unit, and the same side being respectively positioned on quiet disk；The insulating unit is between transmitter unit and receiving unit；At least provided with sensing unit and reflector element on the Moving plate；The sensing unit is coupled with the transmitter unit；The reflector element is coupled with the receiving unit.Ultra-thin encoder of the present invention is by using a quiet disk installation transmitter unit and receiving unit；Therefore it can make the small volume of the encoder.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of ultra-thin encoder applied to joint of robot.
Background technology
The mechanical arm that robot especially industrial robot generally includes one or more than one rotary joint connects.
Each mechanical arm can drive corresponding rotary joint to rotate by move by motor.It usually requires that volume is installed on each rotary joint
Code device, the rotation angle of each mechanical arm is perceived by encoder.
Existing encoder typically at least includes two quiet disks and a Moving plate, and Moving plate is installed between two quiet disks.Two
A quiet disk rotates the signal for changing receiver and receiving by Moving plate respectively as receiver and transmitter.In order to ensure each machine
The sensitivity of tool arm rotation, the susceptibility of encoder sense mechanism arm rotation angle need it is sufficiently large, and encoder installation with
Occupied volume is the smaller the better when rotary joint.
Invention content
In order to realize that the purpose of small size encoder, the present invention provide a kind of ultra-thin encoder.
A kind of ultra-thin encoder, including Moving plate and quiet disk；The Moving plate and quiet disk are printed with circuit respectively；The Moving plate with
Quiet disk coaxial arrangement；It further include rotating member；The Moving plate is installed on rotating member；
At least provided with transmitter unit, receiving unit and insulating unit on the quiet disk；The receiving unit is single with transmitting
Member coaxial arrangement, and the same side being respectively positioned on quiet disk；The insulating unit is between transmitter unit and receiving unit；
At least provided with sensing unit and reflector element on the Moving plate；The sensing unit and the transmitter unit coupling
It closes；The reflector element is coupled with the receiving unit.
Preferably, the rotating member includes rotation section and the interconnecting piece affixed with rotation section；The interconnecting piece is solid with Moving plate
It connects；The rotation section is used to connect with external power part.
Preferably, the interconnecting piece forward projection is less than the one third of the induction zone area in the area on Moving plate.
Preferably, the transmitter unit is provided with several electrodes, the electrode rounded battle array centered on the center of circle of quiet disk
Column-shaped arranges.
Preferably, further include magnet；The magnet is installed on and Moving plate.
Preferably, the Moving plate respectively include first surface and with first surface second surface disposed in parallel；The magnetic
Body is installed on first surface；The second surface is towards the quiet disk.
Preferably, the sensing unit and reflector element are respectively positioned on second surface.
Preferably, the quiet disk includes fixed part；Location hole is offered on the fixed part.
Preferably, the fixed part is two, and the line at the center of two fixed part upper Positioning holes passes through the circle of quiet disk
The heart.
Preferably, the center of the quiet disk and Moving plate is respectively arranged with perforation；The perforation is circle；The rotating member
Part is interspersed in the perforation of Moving plate.
Beneficial effects of the present invention：
Compared with prior art, ultra-thin encoder of the present invention on quiet disk by being arranged transmitter unit and receiving list
Member, and receiving unit is respectively positioned on the same side on quiet disk with transmitter unit, by transmitter unit and is received by insulating unit
Unit separates to realize that can be achieved with signal merely with a quiet disk receives and transmitting；Therefore it can make the volume
The small volume of code device.Moving plate is installed additionally by rotating member；To it may make that the thickness of Moving plate is sufficiently thin in the case of, still
It can guarantee that the sensitivity of the signal transmission between quiet disk is higher.Drive Moving plate rotation that can effectively reduce Moving plate using rotating member
Abrasion, and then improve the service life of Moving plate.
Description of the drawings
Fig. 1 is a kind of sectional view of ultra-thin encoder in presently preferred embodiments of the present invention；
Fig. 2 is a kind of Moving plate schematic diagram of ultra-thin encoder in presently preferred embodiments of the present invention；
Fig. 3 is a kind of quiet disk schematic diagram of ultra-thin encoder in presently preferred embodiments of the present invention.
Specific implementation mode
In the following, in conjunction with attached drawing and specific implementation mode, the present invention is described further：
A kind of ultra-thin encoder 10, including Moving plate 1, quiet disk 2 and rotating member 3.The Moving plate 1 and quiet disk 2 print respectively
There is circuit (not shown).The Moving plate 1 is coaxially disposed with quiet disk 2.The Moving plate 1 is installed on rotating member 3.Preferably, institute
It states Moving plate 1 and is fixed on the rotating member 3.The rotating member 3 can be installed in the shaft 100 in the rotary joint of mechanical arm.
When the shaft 100 rotates, rotating member 3 can be driven to rotate and then Moving plate 1 is driven to rotate so that ultra-thin encoder can be timely
The rotation angle of detection mechanical arm.The center of the quiet disk 2 and Moving plate 1 is respectively arranged with perforation A.The perforation A is circle.Institute
The part for stating rotating member 3 is interspersed in the perforation A of Moving plate 1.The shaft passes through Moving plate 1 and the perforation of quiet disk 2 A.
Preferably, the ultra-thin encoder 10 further includes magnet 4.The magnet 4 is installed on Moving plate 2.The magnetic
Body 4 can form magnetic field.When magnet 4 can with Moving plate 2 rotates when can be provided for encoder electric energy and determine Moving plate 2 rotate circle
Number.
At least provided with sensing unit 11 and reflector element 12 on the Moving plate 1.The Moving plate 1 respectively includes first surface
13 and with 13 second surface 14 disposed in parallel of first surface.The magnet 4 is installed on first surface 13.The second surface 14
Towards the quiet disk 2.The sensing unit 11 and reflector element 12 are respectively positioned on second surface 14.Preferably, described anti-
Penetrate the periphery that unit 12 is surrounded on sensing unit 11.Bonding pad 15 is formed between reflector element 12 and sensing unit 11, the company
It meets area 15 to be made of insulating materials, for dividing the reflector element 12 and sensing unit 11.The bonding pad 15 is in by cosine
The closed figure that wave or sine wave shape enclose.
Preferably, it is provided with the contact site 16 being connect with rotating member 3 on the Moving plate 1, is provided on the contact site 16
Coupling hole 160 for being connect with rotating member 3.Preferably, the contact site 16 is located in sensing unit 11.
At least provided with transmitter unit 21, receiving unit 22 and insulating unit 23 on the quiet disk 2.The receiving unit 22
It is coaxially disposed with transmitter unit 21, and the same side being respectively positioned on quiet disk 2.The insulating unit 23 be located at receiving unit 22 with
Between transmitter unit 21.The transmitter unit 21 is coupled with the sensing unit 11；The receiving unit 22 is single with the reflection
Member 12 couples.The mode of the coupling can be capacitive couplings.
The transmitter unit 21 is provided with several electrodes 211.The electrode 211 is rounded centered on the center of circle of quiet disk 2
Array-like arranges.The quiet disk 2 includes fixed part 24.Location hole 240 is offered on the fixed part 24.The fixed part 24 is used
In the quiet disk 2 is fixed on rotary joint, and prevent the quiet disk 2 from being rotated with Moving plate 1.Preferably, the fixation
Portion 24 is two, and the line at the center of two fixed parts, 24 upper Positioning holes 240 passes through the center of circle of quiet disk 2.
The rotating member 3 has the function of protecting Moving plate 1.The rotating member 3 include rotation section 31 and with rotation section 31
Affixed interconnecting piece 32.The interconnecting piece 32 and Moving plate 1 are affixed.Preferably, the interconnecting piece 32 is installed on the contact site 16.
The rotation section 31 is used to connect with external power part, such as rotation section 31 and the shaft in the rotary joint of mechanical arm
100 connections.32 forward projection of the interconnecting piece is less than the one third of 11 area of the sensing unit in the area on Moving plate 1,
Preferably, 32 forward projection of interconnecting piece is less than 1/5th of 11 area of the sensing unit in the area on Moving plate 1.So even
Influence of the socket part 32 to 1 thickness of Moving plate is small, can be ignored.It, can be dynamic by the increase of interconnecting piece 32 since Moving plate 1 is sufficiently thin
The intensity and stability of disk 1, so as to reduce the error occurred when signal transmission between Moving plate 1 and quiet disk 2.Certain company
Socket part 32 can be omitted, and directly Moving plate 1 is fixed on rotation section 31.
Preferably, the rotation section 31 is interspersed in the perforation A of Moving plate 1.The interconnecting piece 32 is pasted with the contact site 16
It closes, and the coupling hole 160 can be passed through to realize that interconnecting piece 32 is fixed with contact site 16 by fixing piece (not shown).It is described
Fixing piece can be the objects such as screw or rivet.The rotation section 31 can be rotated synchronously with the shaft 100 in rotary joint.
In conclusion ultra-thin encoder of the present invention is on quiet disk 2 by being arranged transmitter unit 21 and receiving unit 22,
And receiving unit 22 and transmitter unit 21 are respectively positioned on the same side on quiet disk 2, by insulating unit 23 by transmitter unit 21
Separate to realize that can be achieved with signal merely with a quiet disk 2 receives and transmitting with receiving unit 22；It therefore can be with
So that the small volume of the encoder.Moving plate 1 is installed additionally by rotating member 3；To may make the thickness of Moving plate 1 sufficiently thin
In the case of, it still can guarantee that the sensitivity of the signal transmission between quiet disk 2 is higher.Drive the rotation of Moving plate 1 can using rotating member 3
The effective abrasion for reducing Moving plate 1, and then improve the service life of Moving plate 1.
It will be apparent to those skilled in the art that technical solution that can be as described above and design, make various other
Corresponding change and deformation, and all these changes and deformation should all belong to the protection domain of the claims in the present invention
Within.
It should be noted that：Embodiment described above is only a part of the embodiment of the present invention, rather than whole realities
Apply example.The embodiment and "an" of singulative used in the attached claims, " described " and "the" be also intended to including
Most forms, unless context clearly shows that other meanings.
Claims (10)
1. a kind of ultra-thin encoder, including Moving plate and quiet disk；The Moving plate and quiet disk are printed with circuit respectively；The Moving plate with it is quiet
Disk is coaxially disposed；It is characterized in that：It further include rotating member；The Moving plate is installed on rotating member；
At least provided with transmitter unit, receiving unit and insulating unit on the quiet disk；The receiving unit and transmitter unit are same
Axis is arranged, and the same side being respectively positioned on quiet disk；The insulating unit is between transmitter unit and receiving unit；
At least provided with sensing unit and reflector element on the Moving plate；The sensing unit is coupled with the transmitter unit；Institute
Reflector element is stated to couple with the receiving unit.
2. ultra-thin encoder according to claim 1, it is characterised in that：The rotating member includes rotation section and and rotation section
Affixed interconnecting piece；The interconnecting piece and Moving plate are affixed；The rotation section is used to connect with external power part.
3. ultra-thin encoder according to claim 2, it is characterised in that：The interconnecting piece forward projection is in the face on Moving plate
One third of the product less than the induction zone area.
4. according to claim 1,2 or the ultra-thin encoder of 3 any one of them, it is characterised in that：The transmitter unit is provided with
Several electrodes, the electrode are arranged in round array centered on the center of circle of quiet disk.
5. according to any ultra-thin encoder in claim 1,2 or 3, it is characterised in that：It further include magnet；The magnet peace
It is loaded on and Moving plate.
6. ultra-thin encoder according to claim 5, it is characterised in that：The Moving plate respectively includes first surface and with
One surface second surface disposed in parallel；The magnet is installed on first surface；The second surface is towards the quiet disk.
7. ultra-thin encoder according to claim 6, it is characterised in that：The sensing unit and reflector element are respectively positioned on
Two surfaces.
8. according to claim 1,2 or the ultra-thin encoder of 3 any one of them, it is characterised in that：The quiet disk includes fixed part；
Location hole is offered on the fixed part.
9. according to claim 1,2 or the ultra-thin encoder of 3 any one of them, it is characterised in that：The fixed part is two, should
The line at the center of two fixed part upper Positioning holes passes through the center of circle of quiet disk.
10. according to claim 1,2 or the ultra-thin encoder of 3 any one of them, it is characterised in that：In the quiet disk and Moving plate
The heart is respectively arranged with perforation；The perforation is circle；The part of the rotating member is interspersed in the perforation of Moving plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810478404.XA CN108444501A (en) | 2018-05-18 | 2018-05-18 | A kind of ultra-thin encoder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810478404.XA CN108444501A (en) | 2018-05-18 | 2018-05-18 | A kind of ultra-thin encoder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108444501A true CN108444501A (en) | 2018-08-24 |
Family
ID=63204630
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810478404.XA Pending CN108444501A (en) | 2018-05-18 | 2018-05-18 | A kind of ultra-thin encoder |
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| Country | Link |
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| CN (1) | CN108444501A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103528605A (en) * | 2013-10-15 | 2014-01-22 | 北京航空航天大学 | Capacitive absolute rotary encoder |
| CN104075740A (en) * | 2013-03-27 | 2014-10-01 | 西门子公司 | Capacitance-type rotary encoder and method of determining absolute rotation angle |
| CN204442095U (en) * | 2015-01-06 | 2015-07-01 | 西门子公司 | The encoder of motor and motor |
| CN106152932A (en) * | 2015-03-31 | 2016-11-23 | 西门子公司 | A kind of rotating angle measurement apparatus and measuring method |
| CN106706008A (en) * | 2017-03-09 | 2017-05-24 | 广东盈动高科自动化有限公司 | Differential capacitance encoder |
| CN107425671A (en) * | 2016-05-23 | 2017-12-01 | 西门子公司 | Encoder and motor |
| CN208254500U (en) * | 2018-05-18 | 2018-12-18 | 深圳超磁机器人科技有限公司 | A kind of ultra-thin encoder |
-
2018
- 2018-05-18 CN CN201810478404.XA patent/CN108444501A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104075740A (en) * | 2013-03-27 | 2014-10-01 | 西门子公司 | Capacitance-type rotary encoder and method of determining absolute rotation angle |
| CN103528605A (en) * | 2013-10-15 | 2014-01-22 | 北京航空航天大学 | Capacitive absolute rotary encoder |
| CN204442095U (en) * | 2015-01-06 | 2015-07-01 | 西门子公司 | The encoder of motor and motor |
| CN106152932A (en) * | 2015-03-31 | 2016-11-23 | 西门子公司 | A kind of rotating angle measurement apparatus and measuring method |
| CN107425671A (en) * | 2016-05-23 | 2017-12-01 | 西门子公司 | Encoder and motor |
| CN106706008A (en) * | 2017-03-09 | 2017-05-24 | 广东盈动高科自动化有限公司 | Differential capacitance encoder |
| CN208254500U (en) * | 2018-05-18 | 2018-12-18 | 深圳超磁机器人科技有限公司 | A kind of ultra-thin encoder |
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