CN112776002A - Joint module mounting structure capable of adjusting positions of double encoders - Google Patents
Joint module mounting structure capable of adjusting positions of double encoders Download PDFInfo
- Publication number
- CN112776002A CN112776002A CN202110176574.4A CN202110176574A CN112776002A CN 112776002 A CN112776002 A CN 112776002A CN 202110176574 A CN202110176574 A CN 202110176574A CN 112776002 A CN112776002 A CN 112776002A
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- adjusting
- input
- circuit board
- reading chip
- output
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
Abstract
The invention discloses a joint module mounting structure capable of adjusting the positions of double encoders, and belongs to the technical field of joint modules of assisted robots. The device comprises a flange, a rotor, a circuit board main body, an input distance adjusting component and an output distance adjusting component; the circuit board main body is sleeved on the rotor and comprises an encoder circuit board, an input reading chip and an output reading chip; the input reading chip and the output reading chip are respectively arranged on the front end face and the rear end face of the encoder circuit board; the input distance adjusting component comprises a rear ring, an adjusting washer and an input code disc; the adjusting washer is arranged at the joint between the rear ring and the input code disc and is used for adjusting the distance between the rear ring and the input code disc; the input coded disc is sleeved on the rotor and positioned on the front side of the input reading chip; the output distance-adjusting component comprises an adjusting seat, an output coded disc and a threading pipe. The distance between the reading chip and the code disc can be flexibly adjusted, the difficulty of installation and debugging is reduced, and the processing cost is low.
Description
Technical Field
The invention relates to a joint module technology of an assisting robot, in particular to a joint module mounting structure capable of adjusting the positions of double encoders.
Background
The joint module of the robot assisted by society is small in structure and high in precision. The dual encoder structure can make the higher of module precision, but the encoder in the encoder code wheel and reading chip mounted position's requirement is strict, if the module requires the precision higher when needing the encoder with higher number of bits, the installation requirement just is stricter. The existing joint module double-encoder mounting structure is that two code discs are mounted face to face, the two code discs share one encoder circuit board and are mounted in the middle, and reading chips are welded on the front side and the back side of the circuit board respectively and correspond to the two code discs. Because the thickness deviation of the circuit board is as high as 20%, the distance between the reading chip and the code disc is affected by the thickness difference of the circuit board, and if the distance between the reading chip and the code disc cannot be flexibly adjusted, the requirements on the installation and debugging of the processing precision of related parts are high, so that high processing cost and installation and debugging cost are brought.
The existing double-encoder mounting structure has the following defects:
1. the distance between the reading chip and the code disc cannot be flexibly adjusted;
2. the difficulty of machining precision installation and debugging is high, and the processing cost is high.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the purposes of the invention is to provide a joint module mounting structure capable of adjusting the positions of double encoders.
One of the purposes of the invention is realized by adopting the following technical scheme: a joint module mounting structure capable of adjusting the positions of double encoders comprises a flange, a rotor, a circuit board main body, an input distance adjusting assembly and an output distance adjusting assembly;
the circuit board main body is sleeved on the rotor and comprises an encoder circuit board, an input reading chip and an output reading chip; the input reading chip and the output reading chip are respectively arranged on the front end face and the rear end face of the encoder circuit board;
the input distance adjusting component comprises a rear ring, an adjusting washer and an input coded disc; the rear ring is arranged on the outer side of the rotor, the rear ring is detachably and fixedly connected with the encoder circuit board, and the adjusting gasket is arranged at the joint between the rear ring and the input code disc and used for adjusting the distance between the rear ring and the input code disc; the input coded disc is sleeved on the rotor and positioned on the front side of the input reading chip;
the output distance adjusting component comprises an adjusting seat, an output coded disc and a threading pipe; the adjusting seat and the output code disc are positioned at the rear side of the output reading chip, and the adjusting seat and the output code disc are detachably and fixedly connected and are sleeved on the threading pipe together;
the flange is positioned on one side of the rotor, and the threading pipe penetrates through the rotor and is fixedly connected with the flange.
Further, the rear ring is arranged on the front side of the encoder circuit board.
Furthermore, the rear end of the rear ring is detachably and fixedly connected with the outer end of the encoder circuit board through a bolt, and the adjusting gasket is sleeved on the bolt.
Furthermore, the input reading chip and the output reading chip are respectively and fixedly connected with two end faces of the encoder circuit board in a welding fixing mode.
Furthermore, a first clamping groove is formed in one side, close to the encoder circuit board, of the adjusting seat, and the output reading chip is located on the first clamping groove.
Furthermore, a second clamping groove is formed in the tail end of the rotor, and the input reading chip is located on the second clamping groove.
Further, the input reading chip and the output reading chip are symmetrically arranged relative to the encoder circuit board.
Further, the input code disc and the output code disc are symmetrically arranged relative to the encoder circuit board.
Compared with the prior art, the invention has the beneficial effects that:
the distance between the input reading chip and the input code disc can be adjusted through the adjusting washer, and the distance between the output reading chip and the output code disc can be adjusted through adjusting the position of the adjusting seat, so that the distance between the reading chip and the code disc can be flexibly adjusted; in addition, through demountable installation between a plurality of parts, solve the thickness deviation of circuit board and influence the distance of reading chip, and can accomplish the distance between nimble adjustment reading chip and the code wheel, can improve the machining precision of spare part greatly, reduced the degree of difficulty of installation and debugging.
Drawings
FIG. 1 is a schematic structural diagram of a joint module mounting structure capable of adjusting the positions of two encoders according to the present invention;
fig. 2 is a schematic diagram of a partially enlarged structure at a position a of the joint module mounting structure capable of adjusting the positions of the dual encoders provided by the present invention.
In the figure: 1. a flange; 2. a rotor; 3. inputting a code disc; 4. a rear ring; 5. inputting a reading chip; 6. an adjusting washer; 7. a circuit board of the encoder; 8. outputting a reading chip; 9. outputting a coded disc; 10. an adjusting seat; 11. a threading pipe.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
As shown in fig. 1-2, a joint module mounting structure capable of adjusting the positions of two encoders comprises a flange 1, a rotor 2, a circuit board main body, an input distance adjusting assembly and an output distance adjusting assembly; the circuit board main body is sleeved on the rotor 2 and comprises an encoder circuit board 7, an input reading chip 5 and an output reading chip 8; the input reading chip 5 and the output reading chip 8 are respectively arranged on the front end face and the rear end face of the encoder circuit board 7; the input distance adjusting component comprises a rear ring 4, an adjusting washer 6 and an input coded disc 3; the rear ring 4 is arranged on the outer side of the rotor 2, the rear ring 4 is detachably and fixedly connected with the encoder circuit board 7, and the adjusting washer 6 is arranged at the joint between the rear ring 4 and the input coded disc 3 and is used for adjusting the distance between the rear ring 4 and the input coded disc 3; the input code disc 3 is sleeved on the rotor 2 and is positioned on the front side of the input reading chip 5; the output distance adjusting component comprises an adjusting seat 10, an output coded disc 9 and a threading pipe 11; the adjusting seat 10 and the output coded disc 9 are positioned at the rear side of the output reading chip 8, and the adjusting seat 10 and the output coded disc 9 are detachably and fixedly connected and are sleeved on the threading pipe 11 together; the flange 1 is positioned at one side of the rotor 2, and the threading pipe 11 passes through the rotor 2 and is fixedly connected with the flange 1.
The invention comprises a rotor 2, an input code wheel 3, an encoder circuit board 7, an output reading chip 8, an input reading chip 5, an output code wheel 9, an adjusting washer 6, an adjusting seat 10, a threading pipe 11, a flange 1 and a rear ring 4. The output code wheel 9 is arranged on the adjusting seat 10 and is connected with the flange 1 through the threading pipe 11, the encoder circuit board 7 is arranged on the back ring 4, and the output reading chip 8 and the input reading chip 5 are respectively welded on the front and back surfaces of the encoder circuit board 7. The input code wheel 3 is arranged on the rotor 2, and the adjusting washer of the encoder circuit board 7 is arranged on the rear ring 4. With the structure, no matter the circuit board is thinned or thickened, the distance between the input reading chip 5 and the input code wheel 3 can be adjusted through the adjusting gasket 6, and the distance between the output reading chip 8 and the output code wheel 9 can be adjusted through adjusting the position of the adjusting seat 10, so that the distance between the output reading chip 8 and the output code wheel 9 can be flexibly adjusted. In the present embodiment, the left direction in fig. 1 is taken as the front direction, and the right direction in fig. 1 is taken as the rear direction, that is, the rear end face direction of the encoder circuit board 7; the adjusting washer 6 is sleeved in the bolt, and the distance between the rear ring 4 and the encoder circuit board 7 can be adjusted through disassembly.
Further, the rear ring 4 is provided on the front side of the encoder board 7.
Furthermore, the rear end of the rear ring 4 is detachably and fixedly connected with the outer end of the encoder circuit board 7 through a bolt, and the bolt is sleeved with the adjusting washer 6. Bolts can be arranged to penetrate through the encoder circuit board 7 and the rear ring 4 to realize detachable fixed connection.
Further, the input reading chip 5 and the output reading chip 8 are respectively fixedly connected with two end faces of the encoder circuit board 7 in a welding fixing mode.
Furthermore, a first clamping groove is formed in one side, close to the encoder circuit board 7, of the adjusting seat 10, and the output reading chip 8 is located on the first clamping groove.
Furthermore, a second card slot is formed at the tail end of the rotor 2, and the input reading chip 5 is located on the second card slot. The arrangement of the first clamping groove and the second clamping groove facilitates the installation and fixation of the output reading chip 8 and the input reading chip 5.
Further, the input reading chip 5 and the output reading chip 8 are symmetrically arranged about the encoder circuit board 7.
Further, the input code wheel 3 and the output code wheel 9 are symmetrically arranged about the encoder circuit board 7.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (8)
1. A joint module mounting structure capable of adjusting the positions of double encoders is characterized by comprising a flange, a rotor, a circuit board main body, an input distance adjusting assembly and an output distance adjusting assembly;
the circuit board main body is sleeved on the rotor and comprises an encoder circuit board, an input reading chip and an output reading chip; the input reading chip and the output reading chip are respectively arranged on the front end face and the rear end face of the encoder circuit board;
the input distance adjusting component comprises a rear ring, an adjusting washer and an input coded disc; the rear ring is arranged on the outer side of the rotor, the rear ring is detachably and fixedly connected with the encoder circuit board, and the adjusting gasket is arranged at the joint between the rear ring and the input code disc and used for adjusting the distance between the rear ring and the input code disc; the input coded disc is sleeved on the rotor and positioned on the front side of the input reading chip;
the output distance adjusting component comprises an adjusting seat, an output coded disc and a threading pipe; the adjusting seat and the output code disc are positioned at the rear side of the output reading chip, and the adjusting seat and the output code disc are detachably and fixedly connected and are sleeved on the threading pipe together;
the flange is positioned on one side of the rotor, and the threading pipe penetrates through the rotor and is fixedly connected with the flange.
2. The joint module mounting structure capable of adjusting the positions of two encoders according to claim 1, wherein:
the rear ring is arranged on the front side of the encoder circuit board.
3. The joint module mounting structure capable of adjusting the positions of two encoders according to claim 2, wherein:
the rear end of the rear ring is detachably and fixedly connected with the outer end of the encoder circuit board through a bolt, and the adjusting gasket is sleeved on the bolt.
4. The joint module mounting structure capable of adjusting the positions of two encoders according to claim 1, wherein:
the input reading chip and the output reading chip are fixedly connected with two end faces of the encoder circuit board respectively in a welding fixing mode.
5. The joint module mounting structure capable of adjusting the positions of two encoders according to claim 1, wherein:
a first clamping groove is formed in one side, close to the encoder circuit board, of the adjusting seat, and the output reading chip is located on the first clamping groove.
6. The joint module mounting structure capable of adjusting the positions of two encoders according to claim 1, wherein:
and a second clamping groove is formed in the tail end of the rotor, and the input reading chip is positioned on the second clamping groove.
7. The joint module mounting structure capable of adjusting the positions of two encoders according to claim 1, wherein:
the input reading chip and the output reading chip are symmetrically arranged relative to the encoder circuit board.
8. The joint module mounting structure capable of adjusting the positions of two encoders according to claim 1, wherein:
the input coded disc and the output coded disc are symmetrically arranged relative to the encoder circuit board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110176574.4A CN112776002A (en) | 2021-02-09 | 2021-02-09 | Joint module mounting structure capable of adjusting positions of double encoders |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110176574.4A CN112776002A (en) | 2021-02-09 | 2021-02-09 | Joint module mounting structure capable of adjusting positions of double encoders |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112776002A true CN112776002A (en) | 2021-05-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110176574.4A Pending CN112776002A (en) | 2021-02-09 | 2021-02-09 | Joint module mounting structure capable of adjusting positions of double encoders |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112776002A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115056261A (en) * | 2022-08-16 | 2022-09-16 | 库卡机器人(广东)有限公司 | Robot joint module and robot |
-
2021
- 2021-02-09 CN CN202110176574.4A patent/CN112776002A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115056261A (en) * | 2022-08-16 | 2022-09-16 | 库卡机器人(广东)有限公司 | Robot joint module and robot |
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