CN111121832A - Novel double-code-disc nested hollow encoder - Google Patents
Novel double-code-disc nested hollow encoder Download PDFInfo
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- CN111121832A CN111121832A CN202010060566.9A CN202010060566A CN111121832A CN 111121832 A CN111121832 A CN 111121832A CN 202010060566 A CN202010060566 A CN 202010060566A CN 111121832 A CN111121832 A CN 111121832A
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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
- G01D5/244—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 influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/249—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 influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using pulse code
Abstract
The invention discloses a novel double code disc nested hollow encoder, which comprises: a fixing member; the circuit part is arranged on the fixing part; the coded piece comprises a coded disc and a coded disc reading head, the coded disc reading head is arranged on the circuit piece and comprises an inner ring coded disc reading head and an outer ring coded disc reading head, and the inner ring coded disc reading head is coaxially arranged in the inner peripheral space of the outer ring coded disc reading head; the coding disc comprises an inner ring coding disc and an outer ring coding disc, the inner ring coding disc is coaxially arranged in the inner peripheral space of the outer ring coding disc, the inner ring coding disc is connected with the first rotating shaft, the outer ring coding disc is connected with the second rotating shaft, the reading heads of the inner ring coding disc correspond to the inner ring coding disc at intervals, and the reading heads of the outer ring coding disc correspond to the outer ring coding disc at intervals. The invention has the advantages of simple structure, reasonable design, compact structure, simple and convenient installation, concise wiring, good stability and high precision control.
Description
Technical Field
The invention relates to the technical field of encoders, in particular to a novel double-code-disc nested hollow encoder.
Background
The encoder is a position measuring element in a servo system, converts the angular displacement of a motor shaft into an electric signal which can be used for communication, transmission and storage, and is matched with a driver and a controller to realize accurate and controllable movement of the motor. At present, a driving module used at a joint of a cooperative robot mainly comprises a harmonic reducer and a servo motor, and a high-speed driving shaft of the servo motor and a low-speed shaft led out from an output end face of the reducer are arranged in the corresponding module.
The encoder configuration of the driving module mainly has two types: the first installation mode is that a high-precision absolute value encoder is only used on a high-speed shaft of a motor, and a high-precision harmonic reducer is matched to realize external precision rotation control; the second installation mode is to use incremental encoder on the high-speed shaft of motor, uses absolute value encoder on the low-speed shaft that the reduction gear output terminal surface was drawn forth, utilizes the epaxial encoder of low-speed to read the output position of reduction gear in real time to feed back this positional information to high-speed shaft encoder in real time, and both mutually support, realize driving module's external high accuracy output.
However, for the two installation methods at present, the first installation method can achieve precise control of the motor part because only the encoder is installed on the high-speed shaft, but the precise motion of the motor shaft needs to be transmitted to the robot body through the deceleration of the reducer and the motion transmission of other structures, and after the transmission of a longer distance, the actual position of the mechanical arm always deviates from the expected position due to the transmission error of the reducer and the rigidity problem of the transmission structural part. In the second installation mode, because the encoders are installed on the high-speed shaft and the low-speed shaft, the encoder at the low-speed shaft end can detect the position of the output end of the speed reducer in real time to form a position ring of the driving module, the position ring is processed by software and hardware and fed back to the high-speed end encoder in real time, the driving ring formed by the high-speed end encoder can correct the position of the position ring in real time, and the driving ring and the high-speed end encoder are matched with each other, so that the problems caused by the former mounting mode can be solved preliminarily, but the latter mounting mode, because two encoders are required to be installed in the motor and are generally distributed along the axis of the motor at present, on one hand, a fixing structure of the low-speed end encoder is required to be added on the structure, and then can increase the whole length of drive module, on the other hand owing to increase an encoder, need carry out information exchange between the high low-speed encoder, can bring great trouble for the inside line of walking of motor. The two installation modes can not meet the requirements of the cooperative robot on small size, compact structure, high stability and high precision of the driving module.
Disclosure of Invention
In order to overcome the defects, the invention provides a novel dual code disc nested hollow encoder, which specifically adopts the following technical scheme:
a novel dual-code-disc nested hollow encoder comprises:
the fixing piece comprises a mounting bracket, and the mounting bracket is in an arc ring shape; the circuit part, the circuit part sets up on the mounting internal perisporium, the circuit part includes first circuit board and second circuit board, first circuit board with the second circuit board electricity is connected, first circuit board with the second circuit board is all overlapped the interval and is set up on the installing support.
The coded piece comprises a coded disc and a coded disc reading head, the coded disc reading head is arranged on the circuit piece, the coded disc reading head comprises an inner ring coded disc reading head and an outer ring coded disc reading head, and the inner ring coded disc reading head is coaxially arranged in the inner peripheral space of the outer ring coded disc reading head; the coding disc is located in the inner peripheral space of the fixing piece and comprises an inner ring coding disc and an outer ring coding disc, the inner ring coding disc is coaxially arranged in the inner peripheral space of the outer ring coding disc and is connected with a first rotating shaft, the outer ring coding disc is connected with a second rotating shaft, reading heads of the inner ring coding disc correspond to the inner ring coding disc at intervals, and reading heads of the outer ring coding disc correspond to the outer ring coding disc at intervals.
Preferably, the central angle of the mounting bracket is larger than 180 degrees, a plurality of screw holes are uniformly distributed on one end surface of the mounting bracket around the center of the circle, screws are embedded in the screw holes, and the screws are matched with the screw holes; a plurality of first fixed through holes are uniformly distributed on the end face of the mounting support around the circle center, and the distance between each first fixed through hole and the circle center is larger than that between each screw hole and the circle center. Preferably, the circle centers of the first circuit board and the second circuit board are both provided with a rotation through hole.
Preferably, a plurality of second fixing through holes are formed in the outer edges of the first circuit board and the second circuit board, and the distance from the second fixing through holes to the circle center of the circuit board is the same as the distance from the screw holes to the circle center of the mounting bracket; fixed pipes are fixedly embedded in the second fixed through holes, and the length of each fixed pipe can meet the requirement of the electrical clearance between the first circuit board and the second circuit board.
Preferably, the first circuit board and the second circuit board are both fastened to the mounting bracket through the fixing tube.
Preferably, the inner ring coding disc is disc-shaped, an inner ring through hole is formed in the center of the inner ring coding disc, and the radius of the inner ring through hole is not smaller than that of the rotary through hole; the end face of the inner ring coding disc is uniformly provided with a plurality of first scale marks around the circle center, the first scale marks are arranged along the radial direction, and the first scale marks are magnetic.
Preferably, the outer ring coding disc is disc-shaped, an outer ring through hole is formed in the center of the outer ring coding disc, and the radius of the outer ring through hole is larger than that of the inner ring coding disc; and a plurality of second scale marks are uniformly arranged on the surface of the outer ring coding disc around the circle center, the second scale marks are arranged along the radial direction, and the second scale marks have magnetism.
Preferably, the code wheel reading head comprises an inner ring code wheel reading head (9) and an outer ring code wheel reading head (10), the inner ring code wheel reading head and the outer ring code wheel reading head are both arranged on the first circuit board, the first rotating shaft and the second rotating shaft are high-speed shafts or low-speed shafts, the inner ring code wheel is connected with the first rotating shaft through a first shaft transition sleeve, and the outer ring code wheel is connected with the second rotating shaft through a second shaft transition sleeve.
Preferably, the first shaft transition sleeve is coaxially arranged in the inner circumferential space of the inner ring coding disc (7), and the second shaft transition sleeve is coaxially arranged on the outer circumference of the outer ring coding disc (8).
Preferably, the distance between the reading head of the inner ring code disc and the circle center of the first circuit board is greater than the radius of the inner ring through hole and smaller than the radius of the inner ring code disc; the distance from the outer ring coded disc reading head to the circle center of the first circuit board is larger than the radius of the outer ring through hole and smaller than the radius of the outer ring coded disc; the inner ring coded disc reading head and the outer ring coded disc reading head are both magnetic field sensors.
The invention at least comprises the following beneficial effects:
1) the novel double-coded-disc nested hollow encoder is simple in structure, reasonable in design, compact in structure, simple and convenient to install, concise in wiring, good in stability and high in precision control;
2) the novel double-code-disc nested hollow encoder is provided with the encoding piece, the encoding piece comprises the encoding disc and the code disc reading head, the encoding disc comprises the inner ring encoding disc and the outer ring encoding disc, the inner ring encoding disc and the outer ring encoding disc can monitor a high-speed shaft of a motor and the rotating speed reduced by the speed reducer part in real time, and further the rotating speed of the motor can be conveniently adjusted by the circuit piece in real time, so that the rotating speed reduced by the speed reducer part can be matched with the set rotating speed, and the inner ring encoding disc and the outer ring encoding disc are both arranged at one end of the joint driving module, so that the novel double-code-disc nested hollow encoder is compact in design, small in size and good in stability;
3) the novel double-code-disc nested hollow encoder is provided with the circuit part, the circuit part comprises the first circuit board and the second circuit board, the first circuit board and the second circuit board are both arranged on the mounting bracket, and the first circuit board is electrically connected with the second circuit board, so that the first circuit board and the second circuit board are concise in line connection and accurate in information circuit transmission, the accuracy and the stability of the output rotating speed of the joint driving module can be controlled, and the aim of accurately controlling the robot body can be achieved.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a cross-sectional view of a novel dual-code-disc nested hollow encoder of the present invention;
FIG. 2 is a three-dimensional bottom view of the novel dual-coded-disc nested hollow encoder of the present invention;
FIG. 3 is a top view of a three-dimensional structure of a novel dual-code-disc nested hollow encoder of the present invention;
FIG. 4 is a schematic diagram of the novel dual-code-disc nested hollow encoder of the present invention installed behind a joint driving module;
FIG. 5 is a schematic view of a three-dimensional structure of a transition sleeve and an outer ring coding disc of a high-speed shaft in the novel dual-code-disc nested hollow encoder of the present invention;
FIG. 6 is a schematic view showing a three-dimensional structure of a middle/low speed shaft transition sleeve and an inner ring encoding disk of the novel dual-code-disk nested hollow encoder of the present invention;
FIG. 7 is a schematic view of the three-dimensional structure of the middle/low speed shaft transition sleeve, the inner ring encoding disk, the high speed shaft transition sleeve and the outer ring encoding disk of the novel dual-code-disk nested hollow encoder of the present invention.
Wherein: 1-a mounting bracket, 2-a first circuit board, 3-a second circuit board, 4-a rotating through hole, 5-a fixed pipe, 6-a screw, 7-an inner ring encoding disc, 8-an outer ring encoding disc, 9-an inner ring encoding disc reading head, 10-an outer ring encoding disc reading head, 11-a first fixed through hole, 12-a low-speed shaft, 13-a low-speed output flange, 14-a low-speed shaft transition sleeve, 15-a high-speed shaft transition sleeve, 16-a motor high-speed shaft, 17-a low-speed output part, 18-a speed reducer part, 19-a motor and brake part and 20-an encoder part.
Detailed Description
Technical solutions of the present invention will be described in detail below by way of embodiments with reference to the accompanying drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto.
The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, B exists alone, and A and B exist at the same time, and the term "/and" is used herein to describe another association object relationship, which means that two relationships may exist, for example, A/and B, may mean: a alone, and both a and B alone, and further, the character "/" in this document generally means that the former and latter associated objects are in an "or" relationship.
According to the drawings of fig. 1-7, the novel hollow encoder with nested double code discs comprises a fixing piece, a circuit piece and an encoding piece, wherein the fixing piece is installed on an end cover of a driving module.
The mounting includes installing support 1, installing support 1 is the arc cyclic annular, 1 central angle of installing support is greater than 180 degrees, the circuit spare sets up on the mounting internal perisporium to reduce axial installation distance. The mounting bracket is characterized in that three screw holes are uniformly distributed in one end face of the mounting bracket 1 around the circle center, screws 6 are embedded in the screw holes, and the screws 6 are matched with the screw holes. Four first fixed through holes 11 are uniformly distributed on the end face of the mounting bracket 1 around the circle center, and the distance between the first fixed through holes 11 and the circle center is larger than that between the screw hole and the circle center. The first fixing through hole 11 is used for fixing the mounting bracket 1 on a driving module, so that the coding part can monitor and adjust the rotating speed of the driving module.
The circuit part comprises a first circuit board 2 and a second circuit board 3, the first circuit board 2 and the second circuit board 3 are arranged on the mounting bracket 1 in an overlapping and interval mode, and the first circuit board 2 and the second circuit board 3 are electrically connected. In this embodiment, the first circuit board 2 is mounted on the inner periphery of the mounting bracket 1, and the second circuit board 3 is mounted on the outer side of the first circuit board 2, so that the occupied space of the axis of the whole encoder is reduced.
The circle centers of the first circuit board 2 and the second circuit board 3 are both provided with rotating through holes 4, and the diameters of the rotating through holes 4 are larger than the diameter of a rotating shaft of the driving module to be adjusted.
The outer edges of the first circuit board 2 and the second circuit board 3 are provided with three second fixing through holes, and the distance from the second fixing through holes to the circle center of the circuit board is the same as the distance from the screw holes to the circle center of the mounting bracket 1. Each fixed through hole of second all is fixed to inlay and is equipped with fixed pipe 5, fixed pipe 5 length can satisfy first circuit board 2 with the requirement of second circuit board 3 electrical clearance.
The first circuit board 2 and the second circuit board 3 are both fastened to the mounting bracket 1 through the fixing tube 5. Specifically, the screw 6 passes through the fixing tube 5 of the first circuit board 2 and the second circuit board 3 in sequence and then is embedded in the screw hole, so that the first circuit board 2 and the second circuit board 3 can be fastened on the mounting bracket 1.
The code piece comprises a code disc and a code disc reading head, and the code disc reading head is arranged on the circuit piece. The encoding disc comprises an inner ring encoding disc 7 and an outer ring encoding disc 8, the inner ring encoding disc 7 is disc-shaped, an inner ring through hole is formed in the circle center of the inner ring encoding disc 7, and the radius of the inner ring through hole is not smaller than that of the rotary through hole 4. The end face of the inner ring coding disc 7 is uniformly provided with a plurality of first scale marks around the circle center, the first scale marks are arranged along the radial direction, and the first scale marks are magnetic. Specifically, the number of the first scale marks can be specifically determined according to the monitoring precision requirement, and the first scale marks are formed by spraying a magnetic material.
The outer ring coding disc 8 is disc-shaped, an outer ring through hole is formed in the circle center of the outer ring coding disc 8, and the radius of the outer ring through hole is larger than that of the inner ring coding disc 7. And a plurality of second scale marks are uniformly arranged on the surface of the outer ring coding disc 8 around the circle center, the second scale marks are arranged along the radial direction, and the second scale marks have magnetism. Specifically, the number of the second scale marks can be specifically determined according to the monitoring precision requirement, and the second scale marks are formed by spraying a magnetic material.
The coded disc reading head comprises an inner ring coded disc reading head 9 and an outer ring coded disc reading head 10, and the inner ring coded disc reading head 9 and the outer ring coded disc reading head 10 are both arranged on the first circuit board 2. The first circuit board 2 is electrically connected to the second circuit board 3.
The inner ring coded disc reading head 9 is coaxially arranged in the inner peripheral space of the outer ring coded disc reading head 10, the coding disc is positioned in the inner peripheral space of the fixing piece, so that the axial installation distance is further shortened, the coding disc comprises an inner ring coding disc 7 and an outer ring coding disc 8, the inner ring coding disc 7 is coaxially arranged in the inner peripheral space of the outer ring coding disc 8, the inner ring coding disc 7 is connected with a first rotating shaft, the outer ring coding disc 8 is connected with a second rotating shaft, and the first rotating shaft and the second rotating shaft can be high-speed shafts or low-speed shafts.
The first rotating shaft drives the inner ring coding disc 7 to rotate, the second rotating shaft drives the outer ring coding disc 8 to rotate, the inner ring code disc reading heads 9 correspond to the inner ring coding disc 7 at intervals, the rotating speed and the position of the inner ring coding disc 7, namely the rotating speed and the position of the first rotating shaft, are measured through the inner ring code disc reading heads 9, the outer ring code disc reading heads 10 correspond to the outer ring coding disc 8 at intervals, and the rotating speed and the position of the outer ring coding disc 8, namely the rotating speed and the position of the second rotating shaft, are measured through the outer ring code disc reading heads 10.
In this embodiment, as shown in fig. 4, the driving module is one of the hollow all-in-one machine structures in the prior art, and the specific structure can be referred to in the prior application of the applicant, the high-speed shaft of the motor is connected to the motor, and the high-speed shaft of the motor is a hollow shaft, the high-speed shaft of the motor is decelerated by the speed reducer and then output through the low-speed output flange 13, the center of the output end of the low-speed output flange 13 is connected to a low-speed shaft 12, and the low-speed shaft 12 reversely penetrates through the inside of the high-speed shaft of the motor.
The outer ring coding disc 8 is sleeved on the high-speed shaft of the motor through a high-speed shaft transition sleeve 15, and the inner ring coding disc 7 is sleeved on a tail protruding end of the low-speed shaft led out from the high-speed shaft of the motor through a low-speed shaft transition sleeve 14. The high-speed shaft transition sleeve 15 is in a shape of a groove concentric reducing pipe, and the diameter of the large end of the high-speed shaft transition sleeve 15 is larger than that of the inner ring coding disc 7. The small end of the high-speed shaft transition sleeve 15 is sleeved on the high-speed shaft of the motor, and the outer ring coding disc 8 is bonded on the large end of the high-speed shaft transition sleeve 15 through glue solution. The low-speed shaft transition sleeve 14 is sleeved on the low-speed shaft, the inner ring coding disc 7 is sleeved on the low-speed shaft transition sleeve 14, and the inner ring coding disc 7 and the outer ring coding disc 8 are located on the same plane.
As shown in fig. 4-7, the low-speed shaft transition sleeve 14 is coaxially disposed in the inner circumferential space of the inner ring code disc 7, and the high-speed shaft transition sleeve 15 is coaxially disposed in the outer circumference of the outer ring code disc 8, which can further utilize the outer circumferential space of the outer ring code disc 8 and the inner circumferential space of the inner ring code disc 7 to reduce the axial installation space occupied by the low-speed shaft transition sleeve 14 and the high-speed shaft transition sleeve 15, thereby further reducing the axial installation space of the entire encoder.
Therefore, when the motor runs, the outer ring code disc 8 and the inner ring code disc 7 can be driven to rotate, and the outer ring code disc reading head 10 and the inner ring code disc reading head 9 can measure the corresponding high-low speed rotating speed and the corresponding high-low speed rotating shaft position.
Alternatively, the first circuit board is mainly used for collecting readings of the inner ring code disc reading head 9 and the outer ring code disc reading head 10, and the second circuit board is used for analyzing data and communicating with the outside.
The distance between the reading head 9 of the inner ring coded disc and the circle center of the first circuit board 2 is larger than the radius of the inner ring through hole and smaller than the radius of the inner ring coded disc 7; the distance between the outer ring coded disc reading head 10 and the circle center of the first circuit board 2 is larger than the radius of the outer ring through hole and smaller than the radius of the outer ring coded disc 8. The inner ring coded disc reading head 9 and the outer ring coded disc reading head 10 are both magnetic field sensors.
It should be specifically explained that the novel dual code disc nested hollow encoder is used in a manner that: the first use mode is that the inner ring code disc is used as a low-speed end code disc, and the outer ring code disc is used as a high-speed end code disc; the second use mode is that the inner ring code disc is used as a high-speed end code disc, and the outer ring code disc is used as a low-speed end code disc. Since the second mode of use is identical in principle to the first mode of use, it is only provided in a different manner. According to the illustration in fig. 4, the first operation mode of the novel dual-code-disc nested hollow encoder is as follows:
1) the joint driving module of the cooperative robot comprises a low-speed output part 17, a speed reducer part 18, a motor and brake part 19 and an encoder part 20, and it should be noted that the joint driving module of the cooperative robot also comprises a driver part in some cases, but the driver part does not influence the installation of the encoder, so the description is not provided herein, and the specific structure of the joint driving module can refer to the previous application of the applicant;
2) the outer ring coding disc 8 is connected with one end of a high-speed shaft 16 of the motor through a high-speed shaft transition sleeve 15; specifically, the high-speed shaft transition sleeve 15 is sleeved on the motor high-speed shaft 16, and the high-speed shaft transition sleeve 15 rotates along with the motor high-speed shaft 16; the outer ring coded disc 8 is sleeved on the motor high-speed shaft 16, and the outer ring coded disc is bonded on the high-speed shaft transition sleeve 15 through glue solution and rotates along with the high-speed shaft transition sleeve 15, so that the rotating speed of the motor high-speed shaft 16 is monitored and controlled;
3) the other end of the motor high-speed shaft 16 is connected with one end of a speed reducer part 18, and the speed reducer part 18 can convert the high-speed low-torque motion of the motor high-speed shaft 16 into low-speed high-torque rotary motion;
4) the other end of the speed reducer is connected with a low-speed output part 17, the low-speed output part 17 comprises a low-speed output flange 13 and a low-speed shaft 12, the low-speed output flange 13 is connected to a rotating shaft of the speed reducer, and the low-speed shaft 12 is arranged on the low-speed output flange 13; the low-speed output flange 13 transmits high-torque low-speed motion to the robot body, and simultaneously the low-speed output flange 13 transmits low rotating speed to the encoder part 20 through the low-speed shaft 12;
5) the inner ring coding disc 7 is connected with the low-speed shaft 12 through a low-speed shaft transition sleeve 14; specifically, the low-speed shaft transition sleeve 14 is sleeved on the low-speed shaft 12, and the low-speed shaft transition sleeve 14 rotates along with the low-speed shaft 12; the inner ring coding disc 7 is sleeved on the low-speed shaft 12, and the inner ring coding disc 7 is bonded on the low-speed shaft transition sleeve 14 through glue solution and rotates along with the low-speed shaft transition sleeve 14, so that the speed of the motor transmitted to the robot body is monitored;
6) after the outer ring coding disc 8 and the inner ring coding disc 7 are fixed, fixing pieces provided with circuit parts and coded disc reading heads are fixed on the driving module through second fixing through holes by tooling equipment, and the distance between the coding discs and the coded disc reading heads meets the reading requirement;
7) the inner ring code wheel reading head 9 and the outer ring code wheel reading head 10 respectively transmit the monitored rotating speeds of the low-speed shaft 12 and the motor high-speed shaft 16 to the first circuit board 2 and the second circuit board 3, the first circuit board 2 judges whether the rotating speed output by the low-speed output flange 13 meets the preset rotating speed or not by monitoring the rotating speed of the low-speed shaft 12, if so, the motor is controlled by the second circuit board 3 to adjust the rotating speed, so that the rotating speed reduced by the speed reducer meets the preset rotating speed requirement, the motion precision of the joint driving module is improved, and the aim of accurately controlling the robot body is fulfilled.
From the above, the novel dual-coded-disc nested hollow encoder is simple in structure, reasonable in design, compact in structure, simple and convenient to install, concise in wiring, good in stability and high in precision control; the novel double-code-disc nested hollow encoder is provided with the encoding piece, the encoding piece comprises the encoding disc and a code disc reading head, the encoding disc comprises an inner ring encoding disc and an outer ring encoding disc, the inner ring encoding disc and the outer ring encoding disc can monitor a high-speed shaft of a motor and the rotating speed reduced by the speed reducer part in real time, and further the rotating speed of the motor can be conveniently adjusted by the circuit piece in real time, so that the rotating speed reduced by the speed reducer part can be matched with the set rotating speed, and the inner ring encoding disc and the outer ring encoding disc are both arranged at one end of the joint driving module, so that the novel double-code-disc nested hollow encoder is compact in design, small in size and good in stability; furthermore, the novel dual-code-disc nested hollow encoder is provided with the circuit part, the circuit part comprises the first circuit board and the second circuit board, the first circuit board and the second circuit board are both arranged on the mounting bracket, and the first circuit board is electrically connected with the second circuit board, so that the first circuit board and the second circuit board are concise in line connection and accurate in information circuit transmission, the accuracy and the stability of the output rotating speed of the joint driving module can be controlled, and the aim of accurately controlling the robot body can be achieved.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (10)
1. The utility model provides a novel nested formula cavity encoder of two code discs which characterized in that includes:
the fixing piece comprises a mounting bracket (1), and the mounting bracket (1) is arc-shaped and annular;
the circuit part is arranged on the inner peripheral wall of the fixing part;
the encoding piece comprises an encoding disc and a coded disc reading head, the coded disc reading head is arranged on the circuit piece and comprises an inner ring coded disc reading head (9) and an outer ring coded disc reading head (10), and the inner ring coded disc reading head (9) is coaxially arranged in the inner peripheral space of the outer ring coded disc reading head (10); the encoding disc is located in the inner peripheral space of the fixing piece and comprises an inner ring encoding disc (7) and an outer ring encoding disc (8), the inner ring encoding disc (7) is coaxially arranged in the inner peripheral space of the outer ring encoding disc (8), the inner ring encoding disc (7) is connected with a first rotating shaft, the outer ring encoding disc (8) is connected with a second rotating shaft, reading heads (9) of the inner ring encoding disc correspond to the inner ring encoding disc (7) at intervals, and reading heads (10) of the outer ring encoding disc correspond to the outer ring encoding disc (8) at intervals.
2. The novel dual code disc nested hollow encoder as claimed in claim 1, wherein the central angle of the mounting bracket (1) is greater than 180 degrees, a plurality of screw holes are uniformly distributed on one end surface of the mounting bracket (1) around the center of the circle, screws (6) are embedded in the screw holes, and the screws (6) are matched with the screw holes; a plurality of first fixed through holes (11) are uniformly distributed on the end face of the mounting support (1) around the circle center, and the distance between each first fixed through hole (11) and the circle center is larger than that between each screw hole and the circle center.
3. The novel dual-code-disc nested hollow encoder as claimed in claim 2, wherein the circuit part comprises a first circuit board (2) and a second circuit board (3), the first circuit board (2) is electrically connected with the second circuit board (3), the first circuit board (2) and the second circuit board (3) are arranged on the mounting bracket (1) in an overlapping and spaced manner, and rotation through holes (4) are arranged at the circle centers of the first circuit board (2) and the second circuit board (3).
4. The novel dual code disc nested hollow encoder as claimed in claim 3, wherein a plurality of second fixing through holes are arranged on the outer edges of the first circuit board (2) and the second circuit board (3), and the distance from the second fixing through holes to the circle center of the circuit boards is the same as the distance from the screw holes to the circle center of the mounting bracket (1); fixed pipe (5) are fixedly embedded in the second fixed through hole, and the length of the fixed pipe (5) can meet the requirement of the electrical clearance between the first circuit board (2) and the second circuit board (3).
5. A novel dual code disc nested hollow encoder according to claim 4, characterized in that the first circuit board (2) and the second circuit board (3) are both fastened on the mounting bracket (1) through the fixing tube (5) by the screws (6).
6. The novel dual code disc nested hollow encoder as claimed in claim 3, characterized in that the inner ring code disc (7) is disc-shaped, an inner ring through hole is arranged at the center of the inner ring code disc (7), and the radius of the inner ring through hole is not less than the radius of the rotation through hole (4); the inner ring coding disc (7) is characterized in that a plurality of first scale marks are uniformly arranged on the end face of the inner ring coding disc (7) around the circle center, the first scale marks are arranged along the radial direction, and the first scale marks are magnetic.
7. The novel dual code disc nested hollow encoder as claimed in claim 6, wherein the outer ring code disc (8) is disc-shaped, an outer ring through hole is arranged at the center of the outer ring code disc (8), and the radius of the outer ring through hole is larger than that of the inner ring code disc (7); and a plurality of second scale marks are uniformly arranged on the surface of the outer ring coding disc (8) around the circle center, the second scale marks are arranged along the radial direction, and the second scale marks have magnetism.
8. The novel dual-code-disc nested hollow encoder as claimed in claim 7, wherein the inner-ring code disc reading head (9) and the outer-ring code disc reading head (10) are both arranged on the first circuit board (2), the first rotating shaft and the second rotating shaft are high-speed shafts or low-speed shafts, the inner-ring code disc (7) is connected with the first rotating shaft through a first shaft transition sleeve, and the outer-ring code disc (8) is connected with the second rotating shaft through a second shaft transition sleeve.
9. The novel dual code disc nested hollow encoder as claimed in claim 7, wherein the first shaft transition sleeve is coaxially arranged in the inner circumference space of the inner ring code disc (7), and the second shaft transition sleeve is coaxially arranged in the outer circumference of the outer ring code disc (8).
10. The novel dual code disc nested hollow encoder as claimed in claim 8, characterized in that the distance from the center of the circle of the inner code disc reading head (9) to the first circuit board (2) is larger than the radius of the inner ring through hole and smaller than the radius of the inner code disc (7); the distance between the outer ring coded disc reading head (10) and the circle center of the first circuit board (2) is larger than the radius of the outer ring through hole and smaller than the radius of the outer ring coded disc (8); the inner ring coded disc reading head (9) and the outer ring coded disc reading head (10) are both magnetic field sensors.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010060566.9A CN111121832A (en) | 2020-01-19 | 2020-01-19 | Novel double-code-disc nested hollow encoder |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010060566.9A CN111121832A (en) | 2020-01-19 | 2020-01-19 | Novel double-code-disc nested hollow encoder |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111947694A (en) * | 2020-07-07 | 2020-11-17 | 沈阳中光电子有限公司 | Encoder |
| CN112737224A (en) * | 2020-12-07 | 2021-04-30 | 深圳市优必选科技股份有限公司 | Steering engine code control structure and steering engine module |
| CN113091780A (en) * | 2021-03-09 | 2021-07-09 | 珠海格力电器股份有限公司 | Code wheel structure, encoder comprising same and servo motor |
| CN114353837A (en) * | 2022-01-28 | 2022-04-15 | 上海节卡机器人科技有限公司 | Encoder module and robot joint |
-
2020
- 2020-01-19 CN CN202010060566.9A patent/CN111121832A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111947694A (en) * | 2020-07-07 | 2020-11-17 | 沈阳中光电子有限公司 | Encoder |
| CN112737224A (en) * | 2020-12-07 | 2021-04-30 | 深圳市优必选科技股份有限公司 | Steering engine code control structure and steering engine module |
| CN113091780A (en) * | 2021-03-09 | 2021-07-09 | 珠海格力电器股份有限公司 | Code wheel structure, encoder comprising same and servo motor |
| CN114353837A (en) * | 2022-01-28 | 2022-04-15 | 上海节卡机器人科技有限公司 | Encoder module and robot joint |
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