CN113091780A - Code wheel structure, encoder comprising same and servo motor - Google Patents
Code wheel structure, encoder comprising same and servo motor Download PDFInfo
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- CN113091780A CN113091780A CN202110262684.2A CN202110262684A CN113091780A CN 113091780 A CN113091780 A CN 113091780A CN 202110262684 A CN202110262684 A CN 202110262684A CN 113091780 A CN113091780 A CN 113091780A
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- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 7
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- 230000008859 change Effects 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 244000309464 bull Species 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
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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
- G01D5/26—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/22—Optical devices
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Abstract
The invention provides a coded disc structure, an encoder comprising the coded disc structure and a servo motor. The coded disc structure comprises a shaft sleeve assembly, a rotating shaft and a rotating shaft, wherein the shaft sleeve assembly is connected to the rotating shaft and rotates along with the rotating shaft; the grating plate is arranged on the shaft sleeve assembly and can rotate along with the shaft sleeve assembly, the grating plate comprises an inner grating plate and an outer grating plate, the outer grating plate is annularly arranged on the outer side of the inner grating plate, and the inner grating plate and the outer grating plate can rotate at different rotating speeds. The invention can improve the reliability of the encoder by arranging the inner grating plate and the outer grating plate with different rotating speeds.
Description
Technical Field
The invention relates to the technical field of encoders, in particular to a coded disc structure, an encoder comprising the coded disc structure and a servo motor.
Background
The encoder is an instrument for measuring the angle of the rotating mechanism, has the advantages of high measurement precision, small volume and good reliability, and is widely applied to the fields of spaceflight, high-precision processing, robots and high-precision measurement. Devices in which an encoder formats, converts, or encodes signals or data into a form of signal that can be communicated, transmitted, and stored. The signal transmission mode can be divided into a photoelectric encoder and a magnetoelectric encoder, and the signal transmission mode can be divided into a rotary encoder and a linear encoder.
The rotating photoelectric encoder moving grating is a disc structure (namely a coded disc) and is arranged on a rotating shaft of the equipment, the grating is added on a light propagation path, so that the encoder receives the change of signals, and a chip processes and identifies the transient information of the grating and knows the operation angle and position of the equipment. Due to the fact that the equipment installation size fluctuates, the installation quality of the coded disc on the rotating shaft has certain deviation. Under the condition of low speed, the pulse deviation of unit time is less, and the encoder can be normally used; however, at high speed, the pulse deviation per unit time is large and exceeds the allowable deviation limit, so that the encoder may have a reduced precision or even abnormal reading, and the apparatus may be stopped immediately. However, under some conditions, such as when the robot arm is loaded to the highest position, the robot arm may be dropped when the robot arm is stopped.
Therefore, it may be more important to maintain stable operation of the system under certain operating conditions than to maintain high accuracy operation of the system.
Disclosure of Invention
In view of this, the present invention provides a code wheel structure, an encoder including the code wheel structure, and a servo motor, which are at least used for solving the technical problem of poor reliability of an encoder in the prior art, and specifically:
in a first aspect, the present invention provides a code wheel structure comprising
The shaft sleeve assembly is connected to the rotating shaft and rotates along with the rotating shaft;
a grating plate arranged on the shaft sleeve component and capable of rotating along with the shaft sleeve component,
the grating plate comprises an inner grating plate and an outer grating plate, the outer grating plate is annularly arranged at the outer side of the inner grating plate,
the inner grating plate and the outer grating plate can rotate at different rotation speeds.
Further optionally, the bushing assembly comprises:
the shaft sleeve comprises a mounting hole used for being connected with the rotating shaft;
the inner light-transmitting plate is used for mounting the inner light grid plate, is constructed into an annular plate, is sleeved on the shaft sleeve and can rotate along with the shaft sleeve;
the outer light-transmitting plate is used for mounting the outer light grid plate, is constructed into an annular plate and is annularly arranged on the outer side of the inner light-transmitting plate;
and the connecting mechanism is used for connecting the inner light-transmitting plate and the outer light-transmitting plate so that the outer light-transmitting plate and the inner light-transmitting plate rotate at different rotating speeds.
Further optionally, the first surface of the inner light-transmitting panel is for mounting the inner light-transmitting panel, the attachment mechanism is attached to the second surface of the inner light-transmitting panel,
a first annular light-transmitting area is formed between the connecting mechanism and the shaft sleeve.
Further optionally, the first surface of the outer light-transmitting panel is used for mounting the outer light-transmitting panel, the attachment mechanism is connected to the second surface of the outer light-transmitting panel,
and a second annular light-transmitting area is formed on the radial outer side of the connecting mechanism.
Further optionally, the inner grating plate and the outer grating plate are located in the same plane.
Further optionally, at least the region corresponding to the first annular light-transmitting region on the inner grating plate is provided with a code channel;
and code channels are arranged in the area, corresponding to the second annular light-transmitting area, of the outer grating plate at least.
Further optionally, the rotation speed of the inner grating plate is less than the rotation speed of the outer grating plate,
the inner grating plate rotates for a circle, the outer grating plate rotates for n circles, and the value range of n is 8-64.
Further optionally, the connecting mechanism includes a speed reducer, and a rotation speed difference is formed between the inner light-transmitting plate and the outer light-transmitting plate through the speed reducer.
Further optionally, an adjusting gap is formed between the inner grating plate and the outer grating plate, and the adjusting gap provides a space for adjusting the positions of the inner grating plate and the outer grating plate.
In a second aspect, the present invention provides an encoder comprising:
light source:
a lens;
the coded disc structure is adopted; and
a photoelectric conversion device for converting an electric signal into an electric signal,
the light source sequentially penetrates through the lens and the inner grating plate and the outer grating plate on the code disc and then irradiates the photoelectric conversion device.
In a third aspect, the present invention provides a servo motor comprising the above encoder.
The inner grating plate and the outer grating plate with different rotating speeds are arranged, so that the abnormal situation of the high-rotating-speed code reading position is avoided, the capability of the code to resist external influences such as vibration, impact and the like can be improved, the potential safety hazard caused by sudden shutdown of equipment is reduced, and the stability and the reliability of the whole encoder are improved.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings. The drawings described below are merely some embodiments of the present disclosure, and other drawings may be derived from those drawings by those of ordinary skill in the art without inventive effort.
FIG. 1 shows a schematic cross-sectional view of a code wheel configuration of the present invention;
FIG. 2 shows a schematic of the structure of the encoder of the present invention;
fig. 3 shows a schematic structural view of the connection mechanism.
In the figure:
1. a coded disc structure; 10. a shaft sleeve; 21. an inner grating plate; 22. an outer grating plate; 31. an inner light-transmitting panel; 32. an outer light-transmitting panel; 33. a connecting mechanism; 4. a light source; 5. a lens; 6. a photoelectric conversion device; 7. a circuit body; 8. a rotating shaft; 331. a connecting shaft; 332. a first bull gear; 333. a first pinion gear; 334. a second bull gear; 335. a second pinion gear.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and "a" and "an" generally include at least two, but do not exclude at least one, unless the context clearly dictates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
The inner grating plate and the outer grating plate with different rotating speeds are arranged, so that the abnormal situation of the high-rotating-speed code reading position is avoided, the capability of the code to resist external influences such as vibration, impact and the like can be improved, the potential safety hazard caused by sudden shutdown of equipment is reduced, and the stability and the reliability of the whole encoder are improved. The invention is described in detail below with reference to specific examples:
as shown in FIGS. 1 and 2, the present invention provides a code wheel structure 1, comprising
The shaft sleeve assembly is connected to the rotating shaft 8 and rotates along with the rotating shaft 8;
a grating plate arranged on the shaft sleeve component and capable of rotating along with the shaft sleeve component,
the grating plate includes an inner grating plate 21 and an outer grating plate 22, the outer grating plate 22 is annularly arranged outside the inner grating plate 21, the inner grating plate 21 and the outer grating plate 22 can rotate at different rotation speeds, that is, the inner grating plate 21 and the outer grating plate 22 rotate simultaneously, but there is a rotation speed difference between the two, and there is a constant rotation speed ratio between the inner grating plate 21 and the outer grating plate 22.
Preferably, the boss assembly comprises:
a shaft sleeve 10, which comprises a mounting hole for connecting with the rotating shaft 8 and is sleeved on the rotating shaft 8;
the inner transparent plate 31 is used for installing the inner grating plate 21, the inner transparent plate 31 is constructed into an annular plate, is sleeved on the shaft sleeve 10 and can rotate along with the shaft sleeve 10, and light can penetrate through the inner grating plate 21 and the inner transparent plate 31;
an outer light-transmitting plate 32 for mounting the outer light-transmitting plate 22, the outer light-transmitting plate 32 being constructed as an annular plate annularly provided on the outer side of the inner light-transmitting plate 31, light being able to pass through the outer light-transmitting plate 22 and the outer light-transmitting plate 32;
and a connecting mechanism 33 for connecting the inner transparent plate 31 and the outer transparent plate 32 so that the outer transparent plate 32 can rotate along with the inner transparent plate 31, and the outer transparent plate 32 and the inner transparent plate 31 can rotate at different rotating speeds through the connecting mechanism 33.
A first surface of the inner transparent plate 31 is used for mounting the inner grating plate 21, the connecting mechanism 33 is connected to a second surface of the inner transparent plate 31, and a first annular transparent area is formed between the connecting mechanism 33 and the shaft sleeve 10; the first surface of the outer light transmitting plate 32 is used for mounting the outer light transmitting plate 22, the connection mechanism 33 is connected to the second surface of the outer light transmitting plate 32, and the radial outer side of the connection mechanism 33 forms a second annular light transmitting area. A code channel is arranged on the inner grating plate 21 at least in the area corresponding to the first annular light-transmitting area; at least the area of the outer grating plate 22 corresponding to the second annular transparent area is provided with a code channel, and light rays respectively pass through the first transparent area and the second transparent area.
Preferably, the inner grating plate 21 and the outer grating plate 22 are located in the same plane to ensure that the inflection point of the optical path change generated when the light passes through the inner grating plate 21 and the outer grating plate 22 is always maintained, thereby ensuring the detection accuracy. Further, the inner transparent plate 31 and the outer transparent plate 32 have the same thickness and are made of the same material, so that the transparent plates are prevented from generating excessive influence on light transmission.
The rotating speed of the inner grating plate 21 is less than that of the outer grating plate 22, preferably, the inner grating plate 21 and the shaft sleeve 10 rotate synchronously, the inner grating plate 21 rotates for a circle, the outer grating plate 22 rotates for n circles, the value design of n is not too large or too small, the purpose of rotating speed difference cannot be achieved when the value is too small, and the rotating speed of the inner grating plate 21 is low and the precision is low when the value is too large; since the inner grating plate 21 is close to the rotation center, even if there is a deviation of the installation angle, the influence is smaller than that of the outer grating plate 22, and the disturbance resistance is stronger. Preferably, n ranges from 8 to 64.
The connecting mechanism 33 includes a speed reducer, a speed difference is formed between the inner transparent plate 31 and the outer transparent plate 32 by the speed reducer, a constant speed ratio is formed, the inner transparent plate 31 and the outer transparent plate 32 have the same linear speed by the speed reducer, and different angular speeds are realized due to different numbers of teeth in the speed reducers installed on the two shaft sleeves.
As shown in fig. 3, the reducer is composed of a connecting shaft 331, a first large gear 332, a first small gear 333, a second large gear 334, and a second small gear 335. The first large gear 332 and the first small gear 333 are connected to the connecting shaft 331 and rotate synchronously with the connecting shaft 331, the second small gear 335 is connected to the inner transparent plate 31, and the second large gear 334 is connected to the outer transparent plate 32.
When the inner transparent plate 31 rotates, the second small gear 335 drives the first small gear 333 to rotate, and then the first large gear 332 drives the second large gear 334 to rotate, so as to drive the outer grating plate 22 to rotate, and due to the difference between the rotation speeds of the large and small gears, the difference between the rotation speeds of the inner grating plate 21 and the outer grating plate 22 is realized.
Preferably, an adjustment gap is formed between the inner grating plate 21 and the outer grating plate 22, and the adjustment gap provides a space for adjusting the position relationship between the inner grating plate 21 and the outer grating plate 22 during the assembly process, so as to ensure that the inner grating plate 21 and the outer grating plate are concentric and located on the same plane by adjusting the position relationship between the two.
As shown in fig. 2, the present invention also provides an encoder comprising:
a light source 4, preferably an LED light source; a lens 5; the code wheel structure 1; and the photoelectric conversion device 6, the lens 5 is set up between light source 4 and code disc structure 1, the monochromatic light that the light source 4 sends out is changed into the parallel light through the lens 5 at first, the parallel light shines on the photoelectric conversion device 6 after passing inner grating 21 and outer grating 22 on the code disc structure 1, because the inner grating 21 and the outer grating 22 shelter from, will produce the light and shade change on the photoelectric converter, convert the optical signal received into the electrical signal through the photoelectric converter.
The photoelectric converter converts the photoelectric signal of the light passing through the grating plate, and then compiles the light into an electric signal, and then the running state of the code discs of the inner grating plate 22 and the outer grating plate is calculated and identified by a chip on the circuit body 7; for example, the rotation speed n1 of the inner grating plate 21 and the rotation speed n2 of the outer grating plate 22 (n2 ═ n1 ×).
Because the inner grating plate 22 and the outer grating plate 22 have different rotating speeds, the frequencies of photoelectric change fed back to the photoelectric converter in the first light-transmitting area and the second light-transmitting area are different, and the identification precision is also different; for example, the inner grating plate 21 may be recognized to a precision of T1 and the outer grating plate 22 may be recognized to a precision of T2, where T1 < T2.
When the rotating shaft 8 rotates at a low speed, the photoelectric converter can receive all signals of the inner and outer grating plates 22 due to small disturbance of the code disc, the motion of n1 and n2 can be accurately recognized, and the encoder precision is T and is determined by the large value of T1 and T2, namely T is max (T1, T2) is T2.
When the rotating shaft 8 rotates at a high speed or is subjected to external impact, the code disc disturbance is increased, the position deviation is increased, the photoelectric converter cannot receive all signals of the inner grating plate 22 and the outer grating plate 22, and the precision T2 of the outer grating plate 22 cannot be maintained; the accuracy T1 of the inner grating 21 is almost unaffected, and the encoder accuracy T1 is now equal to T. Preferably, to ensure that the device switches time at high and low speeds without great loss of accuracy, T1 should differ as little as possible from T2.
By using the encoder structure, the anti-disturbance capacity of the encoder can be improved, the low-precision operation of the precision T1 of the inner grating plate 21 is kept when the device is impacted by the outside, the position and the speed of the rotating shaft 8 are recorded, the device is not stopped, and the normal operation can be ensured on the premise of reducing the precision.
The invention also provides a servo motor which comprises the encoder, wherein the coded disc structure is connected with a rotating shaft of the servo motor, and the encoder can improve the control reliability of the servo motor and ensure that the servo motor can be reliably controlled in high-speed and low-speed working states.
Exemplary embodiments of the present disclosure are specifically illustrated and described above. It is to be understood that the present disclosure is not limited to the precise arrangements, instrumentalities, or instrumentalities described herein; on the contrary, the disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (11)
1. A code wheel structure is characterized in that: comprises that
The shaft sleeve assembly is connected to the rotating shaft and rotates along with the rotating shaft;
a grating plate arranged on the shaft sleeve component and capable of rotating along with the shaft sleeve component,
the grating plate comprises an inner grating plate and an outer grating plate, the outer grating plate is annularly arranged at the outer side of the inner grating plate,
the inner grating plate and the outer grating plate can rotate at different rotation speeds.
2. The code wheel structure according to claim 1, characterized in that: the bushing assembly includes:
the shaft sleeve comprises a mounting hole used for being connected with the rotating shaft;
the inner light-transmitting plate is used for mounting the inner light grid plate, is constructed into an annular plate, is sleeved on the shaft sleeve and can rotate along with the shaft sleeve;
the outer light-transmitting plate is used for mounting the outer light grid plate, is constructed into an annular plate and is annularly arranged on the outer side of the inner light-transmitting plate;
and the connecting mechanism is used for connecting the inner light-transmitting plate and the outer light-transmitting plate so that the outer light-transmitting plate and the inner light-transmitting plate rotate at different rotating speeds.
3. The code wheel structure of claim 2, characterized in that: the first surface of the inner light-transmitting panel being adapted to mount the inner light-transmitting panel, the attachment mechanism being attached to the second surface of the inner light-transmitting panel,
a first annular light-transmitting area is formed between the connecting mechanism and the shaft sleeve.
4. The code wheel structure of claim 3, characterized in that: the first surface of the outer light-transmitting plate is used for installing the outer light grid plate, the connecting mechanism is connected to the second surface of the outer light-transmitting plate,
and a second annular light-transmitting area is formed on the radial outer side of the connecting mechanism.
5. The code wheel structure according to claim 1, characterized in that: the inner grating plate and the outer grating plate are located in the same plane.
6. The code wheel structure of claim 4, characterized in that: a code channel is arranged in the area, corresponding to the first annular light-transmitting area, of the inner grating plate;
and code channels are arranged in the area, corresponding to the second annular light-transmitting area, of the outer grating plate at least.
7. The code wheel structure according to any one of claims 1 to 6, characterized in that: the rotation speed of the inner grating plate is less than that of the outer grating plate,
the inner grating plate rotates for a circle, the outer grating plate rotates for n circles, and the value range of n is 8-64.
8. The code wheel structure of claim 7, characterized in that: the connecting mechanism comprises a speed reducer, and a rotation speed difference is formed between the inner light-transmitting plate and the outer light-transmitting plate through the speed reducer.
9. The code wheel structure of claim 5, characterized in that: an adjusting gap is formed between the inner grating plate and the outer grating plate, and the adjusting gap provides space for adjusting the positions of the inner grating plate and the outer grating plate.
10. An encoder, characterized by: the method comprises the following steps:
a light source;
a lens;
the code wheel structure of any of claims 1-9; and
a photoelectric conversion device for converting an electric signal into an electric signal,
the light source sequentially penetrates through the lens and the inner grating plate and the outer grating plate on the code disc and then irradiates the photoelectric conversion device.
11. A servo motor, characterized by: comprising an encoder according to claim 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110262684.2A CN113091780B (en) | 2021-03-09 | 2021-03-09 | Code wheel structure, encoder comprising same and servo motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110262684.2A CN113091780B (en) | 2021-03-09 | 2021-03-09 | Code wheel structure, encoder comprising same and servo motor |
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| Publication Number | Publication Date |
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| CN113091780A true CN113091780A (en) | 2021-07-09 |
| CN113091780B CN113091780B (en) | 2022-03-01 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638096A (en) * | 2018-08-14 | 2018-10-12 | 深圳市零差云控科技有限公司 | The servo joint of dicode disk encoder and application the dicode disk encoder |
| CN108801302A (en) * | 2018-04-27 | 2018-11-13 | 广东工业大学 | A kind of reflective rotary encoder of high-precision dual track |
| CN110736486A (en) * | 2019-09-27 | 2020-01-31 | 连云港杰瑞电子有限公司 | compact dual-redundancy absolute encoder |
| CN111121832A (en) * | 2020-01-19 | 2020-05-08 | 江苏开璇智能科技有限公司 | Novel double-code-disc nested hollow encoder |
| WO2020117237A1 (en) * | 2018-12-06 | 2020-06-11 | Harmonic Drive Systems Inc. | Dual absolute encoder |
-
2021
- 2021-03-09 CN CN202110262684.2A patent/CN113091780B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108801302A (en) * | 2018-04-27 | 2018-11-13 | 广东工业大学 | A kind of reflective rotary encoder of high-precision dual track |
| CN108638096A (en) * | 2018-08-14 | 2018-10-12 | 深圳市零差云控科技有限公司 | The servo joint of dicode disk encoder and application the dicode disk encoder |
| WO2020117237A1 (en) * | 2018-12-06 | 2020-06-11 | Harmonic Drive Systems Inc. | Dual absolute encoder |
| CN110736486A (en) * | 2019-09-27 | 2020-01-31 | 连云港杰瑞电子有限公司 | compact dual-redundancy absolute encoder |
| CN111121832A (en) * | 2020-01-19 | 2020-05-08 | 江苏开璇智能科技有限公司 | Novel double-code-disc nested hollow encoder |
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| CN113091780B (en) | 2022-03-01 |
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Effective date of registration: 20230118 Address after: Office 608, No. 108, Huitong Third Road, Hengqin New District, Zhuhai City, Guangdong Province, 519000 Patentee after: GREE ELECTRIC APPLIANCES Inc. OF ZHUHAI Patentee after: ZHUHAI KAIBANG MOTOR MANUFACTURE Co.,Ltd. Address before: 519070 golden hill west road, Qianshan, Xiangzhou District, Zhuhai, Guangdong Patentee before: GREE ELECTRIC APPLIANCES Inc. OF ZHUHAI |
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