CN114147770A - Split type encoder mounting structure and robot - Google Patents
Split type encoder mounting structure and robot Download PDFInfo
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- CN114147770A CN114147770A CN202111676752.6A CN202111676752A CN114147770A CN 114147770 A CN114147770 A CN 114147770A CN 202111676752 A CN202111676752 A CN 202111676752A CN 114147770 A CN114147770 A CN 114147770A
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- 230000003068 static effect Effects 0.000 claims abstract description 57
- 238000005096 rolling process Methods 0.000 claims abstract description 22
- 238000009434 installation Methods 0.000 claims abstract description 21
- 239000002184 metal Substances 0.000 claims description 11
- 229910052751 metal Inorganic materials 0.000 claims description 11
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000001151 other effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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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
- G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The invention discloses a split type encoder mounting structure and a robot, comprising an encoder static disc, an encoder moving disc, an encoder static disc flange, an encoder moving disc flange and a rolling connecting piece which are coaxially mounted; the encoder static disc is detachably connected with the encoder static disc flange; the encoder moving disc is detachably connected with the encoder moving disc flange; a rolling connecting piece is arranged between the encoder static disc flange and the encoder moving disc flange, and the encoder moving disc flange rotates in parallel relative to the encoder static disc flange; a first mounting structure connected with an external fixing device is reserved on the encoder static disc flange; and a second mounting structure connected with an external rotating device is reserved on the encoder moving disc flange. The invention solves the problems of non-uniform time gap and difficult gap adjustment during installation.
Description
Technical Field
The invention relates to the technical field of encoders, in particular to a split type encoder mounting structure and a robot, and particularly relates to a cooperative robot.
Background
An encoder is a device that compiles, converts, and/or formats signals or data into a form of signals that can be communicated, transmitted, and stored. The types of encoders can be classified into an integrated encoder and a split encoder according to the mechanical installation manner of the encoders. The integral type encoder is that the encoder factory has accomplished the installation of the relevant mounted position of encoder before the encoder dispatches from the factory, and the user takes the integral type encoder just can install and use, need not debug the corresponding position distance of encoder again. The integrated encoder has the defects that the integrated encoder is large in size, not beneficial to miniaturization and compact in structure. The split encoder is characterized in that the encoder manufacturer does not install the related installation position of the encoder before leaving the factory. The movable disk and the static disk of the encoder are separated, the user is required to install the encoder on the spot, but the user can frequently install the split encoder, the split encoder is required to be repeatedly and continuously subjected to position debugging, and the consistency after debugging is poor.
Disclosure of Invention
The invention provides a split type encoder mounting structure and a robot, and aims to solve the problems that in the prior art, an integrated encoder is large in size, is not beneficial to miniaturization and compact in structure, and the split type encoder mounting is poor in consistency after being debugged, and the split type encoder often needs to be repeatedly and continuously debugged.
The technical scheme adopted by the invention is as follows: the utility model discloses a split type encoder mounting structure, which comprises an encoder static disc, an encoder moving disc, an encoder static disc flange, an encoder moving disc flange and a rolling connecting piece which are coaxially mounted;
the encoder static disc is detachably connected with the encoder static disc flange; the encoder moving disc is detachably connected with the encoder moving disc flange;
a rolling connecting piece is arranged between the encoder static disc flange and the encoder moving disc flange, and the encoder moving disc flange rotates in parallel relative to the encoder static disc flange;
a first mounting structure connected with an external fixing device is reserved on the encoder static disc flange; and a second mounting structure connected with an external rotating device is reserved on the encoder moving disc flange.
Optionally, the detachable connection is selected from a screw connection or an interference fit connection;
the interference fit connection means that the encoder static disc is in a central hollow shape, and the inner wall of a central ring of the encoder static disc is in interference fit connection with the encoder static disc flange; and/or the encoder driving disk is in a central hollow-out shape, and the inner wall of the central ring of the encoder driving disk is connected with the encoder driving disk flange in an interference fit manner.
Optionally, the encoder driving disk is connected with a mounting positioning ring, and the mounting positioning ring is connected with the encoder driving disk flange through screw connection or interference fit.
Optionally, the first mounting structure is selected from a threaded hole or a mounting sheet metal part; the second mounting structure is selected from a threaded hole.
Optionally, the installation sheet metal component with the quiet dish flange of encoder can be dismantled and be connected or integrated into one piece.
Optionally, the encoder static disc flange and the encoder dynamic disc flange are respectively provided with a groove, and the rolling connecting piece is arranged in the groove;
a second positioning step 302 and an inner ring fixing flange 6 are arranged on the encoder movable disc flange 3, the second positioning step 302 and the inner ring fixing flange 6 form the groove, and the second positioning step 302 and the inner ring fixing flange 6 are respectively detachably connected with the encoder movable disc flange or integrally formed;
be provided with fourth location step 301 and outer lane mounting flange 8 on the quiet dish flange 4 of encoder, fourth location step 301 and outer lane mounting flange 8 form the recess, fourth location step 301 and outer lane mounting flange 8 respectively with the quiet dish flange of encoder can dismantle connection or integrated into one piece design.
Optionally, the rolling connection member is a bearing; the bearing inner ring is fixedly connected with the encoder moving disc flange.
Optionally, the bearing outer ring is connected with an inner ring of the encoder static disc flange in an interference fit manner, and the bearing inner ring is connected with an outer ring of the encoder dynamic disc flange in an interference fit manner.
Optionally, the rolling connecting piece is selected from a ball or a rolling shaft, and the encoder static disc flange and the encoder dynamic disc flange are respectively provided with symmetrically designed grooves matched with the rolling connecting piece; the encoder static disc flange, the encoder moving disc flange and the rolling connecting piece are matched to form a bearing structure. The symmetrically designed grooves can ensure that the inner ring and the outer ring which are integrally formed like a bearing are parallel and stable.
The invention also discloses a robot which adopts the split type encoder installation structure.
The invention has the beneficial effects that: the split type encoder is positioned by the inner and outer parallel and rotating end face structures, and the problems of non-uniform time gap and difficult gap adjustment during installation are solved. The coaxiality of the installation of the split type encoder can be ensured to meet the requirements by utilizing the high-precision coaxiality of the inner ring and the outer ring of the bearing structure. When the installation, a plurality of location steps greatly reduced the installation degree of difficulty.
Drawings
Fig. 1 is a sectional view of a split encoder mounting structure according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a split encoder mounting structure disclosed in the embodiment of the present invention.
FIG. 3 is a sectional view of a movable disk flange of an encoder according to an embodiment of the present invention.
Fig. 4 is another sectional view of the mounting structure of the split encoder disclosed in the embodiment of the present invention.
Fig. 5 is another schematic structural diagram of the split encoder mounting structure disclosed in the embodiment of the present invention.
FIG. 6 is another cross-sectional view of the encoder rotor flange according to the present disclosure.
Reference numerals: 1. a static disc of an encoder; 2. an encoder rotor; 3. a coder movable disc flange; 301. a first positioning step; 302. a second positioning step; 303. mounting holes; 4. a static disc flange of the encoder; 401. mounting a support lug; 5. installing a sheet metal part; 6. the inner ring is fixed with a flange; 7. a bearing; 8. the flange is fixed on the outer ring; 9. and installing a positioning ring.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described below clearly and completely with reference to the drawings of the embodiments of the present disclosure, and it is obvious that the described embodiments are some embodiments of the present disclosure, but not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the described embodiments of the present disclosure belong to the protection scope of the present disclosure.
Unless otherwise defined, technical or scientific terms used herein should be understood as having a common meaning as understood by those of ordinary skill in the art to which this disclosure belongs, and the use of "including" or "comprising" and the like in this disclosure means that the element or item appearing before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items, that "connected" or "connected" and the like are not limited to physical or mechanical connections, and may include electrical connections, whether direct or indirect, "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, which may also change accordingly when the absolute position of the object being described changes.
The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention. The conditions in the embodiments can be further adjusted according to specific conditions, and simple modifications of the method of the present invention based on the concept of the present invention are within the scope of the claimed invention.
Example 1:
referring to fig. 1 to 6, the present embodiment provides a split type encoder mounting structure, including a stationary encoder disk 1, a movable encoder disk 2, a movable encoder disk flange 3, a stationary encoder disk flange 4, and a rolling connector, which are coaxially mounted; the rolling connecting piece is a bearing 7, and a bearing suitable for a deep groove ball bearing can be selected;
the encoder static disc 1 is detachably connected with the encoder static disc flange 4; the encoder moving disc 2 is detachably connected with the encoder moving disc flange 3;
the outer ring of the bearing 7 is fixedly connected with the encoder static disc flange 4, and the inner ring of the bearing is fixedly connected with the encoder movable disc flange 3;
a first mounting structure connected with an external fixing device is reserved on the encoder static disc flange 4; and a second mounting structure connected with an external rotation device is reserved on the encoder movable disc flange 3.
In one embodiment, the detachable connection is selected from a screw connection, the encoder fixed disk 1 is mounted on the encoder fixed disk flange 4, specifically, referring to fig. 2, a plurality of mounting lugs 401 are fixedly arranged on the side wall of the encoder fixed disk flange 4, a plurality of threaded holes corresponding to the mounting lugs 401 are arranged on the encoder fixed disk 1, and the plurality of screws mount the encoder fixed disk 1 on the mounting lugs 401 on the side wall of the encoder fixed disk flange 4; similarly, the encoder moving disc 2 and the encoder moving disc flange 3 are both provided with threaded holes and are detachably connected through the matching of screws and the threaded holes; and/or, an embodiment, the quiet dish of encoder 1 and/or the encoder driving disk 2 is central fretwork form, and the central ring inner wall of the quiet dish of encoder 1 is connected with the quiet dish flange of encoder 4 interference fit and/or the central ring inner wall of the moving disk of encoder 2 is connected with the 3 interference fit of encoder driving disk flange. Namely, the center of the plate is punched to form a central ring, the plate is excessively contacted by utilizing the thickness of each plate, and the thickness direction is a contact surface. The structure and shape of each component are appropriately adjusted according to the application, and are not limited to the examples given in the drawings, which are schematic views of only one specific embodiment thereof. The copper post is as the connection fixing device that the PCB board is commonly used, and this application can be nimble arbitrary use.
In one embodiment, referring to fig. 3, a first positioning step 301 is provided on the encoder moving disk flange 3, and the encoder moving disk 2 is mounted on the first positioning step 301 of the encoder moving disk flange 3. Specifically, the encoder moving disk 2 is fixed on the first positioning step 301 of the encoder moving disk flange 3 by a plurality of screws parallel to the axis, namely the screws are axially mounted, and can be selected to be non-axially mounted according to the requirement; and may also be assembled and installed in the manner referred to above as an interference fit.
In one embodiment, see fig. 4-5, the encoder disk 2 is connected to a mounting and positioning ring 9, and the mounting and positioning ring 9 is connected to the encoder disk flange 3 in an interference fit manner, which may also be combined with the solutions described in other embodiments of the present application. Installation holding ring 9 is hollow ring, and inside is used for holding the spare part of encoder driving disk 2, for example outstanding integrated module etc. this installation holding ring 9 not only can play the effect of protection, prevents or reduces the influence of dust, also can play the effect of location, and encoder driving disk flange 3 is established to 9 covers of installation holding ring.
In one embodiment, the first mounting structure is selected from one or more of a threaded hole, an outer ring fixing flange 8 or a mounting sheet metal part 5; the second mounting structure is selected from a threaded hole and/or an inner ring fixing flange 6.
Use this application split type encoder during, be fixed in the motor end with split type encoder, it is specific, like fig. 2, be provided with mounting hole 303 on the encoder driving disk flange 3, the rotor shaft of motor supports the tang department in encoder driving disk 2, passes mounting hole 303 after-fixing on the rotor shaft with the bolt, and whole split type encoder is fixed to installation sheet metal component 5, and rotor shaft butt inner circle mounting flange 6 that of course also can the motor is fixed through applicable mode. When the motor rotates, the rotor shaft drives the encoder driving disc flange 3 to rotate, the encoder driving disc 2 is driven to rotate, the encoder static disc 1 is not moved, and the rotating speed, the position and other related information of the motor can be fed back in real time through the difference value of the two coded discs.
In one embodiment, the mounting sheet metal part 5 or the outer ring fixing flange 8 is detachably connected with the encoder static disc flange 4; the installation sheet metal part 5 or the outer ring fixing flange 8 is connected with an external fixing device. In the above, the outer ring fixing flange 8 can be used to connect with an external fixing structure, so that the encoder fixed disk 1 is fixed.
In one embodiment, a second positioning step 302 is further arranged on the encoder moving disk flange 3, a third positioning step (i.e., a part extending out from the center in fig. 1 or fig. 4) is arranged on the inner ring fixing flange 6, the encoder moving disk flange 3 and the inner ring fixing flange 6 are detachably connected, if both are provided with threaded holes, the fixing is realized through screws, and the second positioning step 302 and the third positioning step are respectively abutted against the corresponding sides of the bearing inner ring; the sum of the heights of the second positioning step 302 and the third positioning step is equal to the width of the inner ring of the bearing 7 or slightly smaller than the width; and/or, an embodiment the upper portion of the encoder static disc flange 4 is provided with a fourth positioning step (e.g. a protruding structure corresponding to the horizontal plane of the second positioning step 302 in fig. 1), the outer ring fixing flange 8 is provided with a fifth positioning step, the encoder static disc flange 4 and the outer ring fixing flange 8 are detachably connected, and the fourth positioning step and the fifth positioning step are respectively abutted to the corresponding sides of the outer ring of the bearing 7. The third positioning step and the fifth positioning step are not necessarily step-shaped, and may be straight plate-shaped, and the contact part with the inner ring and the outer ring of the bearing is regarded as a step, as shown in fig. 1 or fig. 4, the inner ring fixing flange 6 has a step indication, and the outer ring fixing flange 8 is a straight plate indication.
In one embodiment, the outer ring of the bearing 7 is connected with the inner ring of the encoder static disc flange 4 in an interference fit manner, and the inner ring of the bearing is connected with the outer ring of the encoder movable disc flange 3 in an interference fit manner. The inner ring and the outer ring of the bearing can be respectively and correspondingly fixed through interference fit, and the stepped combined structure can be combined to realize fixation. The conventional connection assembly mode can adopt a threaded hole and then connect two parts through a screw, and the connection mode can be defaulted if no special description exists. Meanwhile, the method and the device can combine any non-conflicting technical features to form a new technical scheme. The split type encoder of this embodiment is positioned with two parallel terminal surfaces of bearing inner race outer lane, solves the problem that the installation time gap is inhomogeneous, and the clearance adjustment is difficult. And the coaxiality of the installation of the split type encoder can be ensured to meet the requirements by utilizing the high-precision coaxiality of the inner ring and the outer ring of the bearing. When the installation, a plurality of location steps greatly reduced the installation degree of difficulty.
Example 2:
the embodiment provides a split type encoder mounting structure, which comprises an encoder static disc 1, an encoder moving disc 2, an encoder moving disc flange 3 and an encoder static disc flange 4 which are coaxially mounted;
the encoder static disc 1 is detachably connected with the encoder static disc flange 4; the encoder moving disc 2 is detachably connected with the encoder moving disc flange 3;
in this embodiment, the number 7 shown in fig. 1 or 4 is replaced by a rolling connector, which is selected from a ball or a roller, and grooves matched with the rolling connector are respectively arranged on the encoder static disc flange and the encoder dynamic disc flange, that is, the encoder static disc flange and the encoder dynamic disc flange are respectively corresponding to an outer ring and an inner ring of a bearing; the encoder static disc flange, the encoder moving disc flange and the rolling connecting piece are matched to form a bearing structure; the present embodiment is not separately illustrated, and similar to the existing drawings, only the names indicated by the corresponding numbers in the drawings need to be emphasized. As shown in the direction of the figure, the groove arranged on the movable disc flange of the encoder is formed by matching the second step and the inner ring fixed flange in the description of the prior figure, and similarly, the groove arranged on the fixed disc flange of the encoder is formed by matching the fourth step and the outer ring fixed flange 8 in the description of the prior figure, and the ball or the roller is placed in the groove; in the present embodiment, the inner ring fixed flange is regarded as a part of the encoder rotor flange, i.e., the lower part shown in the drawing; the outer ring fixed flange 8 is regarded as a part of the encoder stationary plate flange, i.e., the lower part as shown in the drawing. Of course, a split structure can be adopted, for example, the split structure is combined by a screw to form a groove, and the split structure is a non-standard bearing, so that a non-professional person can conveniently install the roller or the ball.
A first mounting structure connected with an external fixing device is reserved on the encoder static disc flange 4; and a second mounting structure connected with an external rotation device is reserved on the encoder movable disc flange 3.
The rest of the technical scheme or the technical characteristics are the same as those in the embodiment 1.
The present application can be installed directly using standard commercially available bearings, as in example 1; the design principle of the bearing structure can also be adopted to be arranged into a non-standard bearing with a special structure. Wherein the static dish flange of encoder needs to be fixed to the outside, and accessible screw is direct and external fixation, also can fix through reconnection installation sheet metal component, can also extend or can realize the part that the subassembly (like outer lane mounting flange 8) of other effects extends with this body through the static dish flange of encoder and be connected with the outside. The outer ring fixing flange 8 shown in the figure can also achieve the effect of installing sheet metal parts if extending outwards in the figure. The specific needs are to select one or more of the combinations according to actual needs.
Example 3:
the embodiment provides a robot, and the robot adopts a split type encoder combined by any scheme of the application. The robot includes an industrial robot, a cooperative robot, a medical robot, and the like.
The above embodiments are merely used to illustrate the technical solutions of the present invention, and not to limit the same, and include new solutions formed by arbitrary combinations of technical features without conflict; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A split type encoder mounting structure is characterized by comprising an encoder static disc, an encoder moving disc, an encoder static disc flange, an encoder moving disc flange and a rolling connecting piece which are coaxially mounted;
the encoder static disc is detachably connected with the encoder static disc flange; the encoder moving disc is detachably connected with the encoder moving disc flange;
a rolling connecting piece is arranged between the encoder static disc flange and the encoder moving disc flange, and the encoder moving disc flange rotates in parallel relative to the encoder static disc flange;
a first mounting structure connected with an external fixing device is reserved on the encoder static disc flange; and a second mounting structure connected with an external rotating device is reserved on the encoder moving disc flange.
2. The split encoder mounting structure of claim 1, wherein the detachable connection is selected from a screw connection or an interference fit connection;
the interference fit connection means that the encoder static disc is in a central hollow shape, and the inner wall of a central ring of the encoder static disc is in interference fit connection with the encoder static disc flange; and/or the encoder driving disk is in a central hollow-out shape, and the inner wall of the central ring of the encoder driving disk is connected with the encoder driving disk flange in an interference fit manner.
3. The split-type encoder mounting structure of claim 1, wherein the encoder moving disk is connected with a mounting and positioning ring, and the mounting and positioning ring is connected with the encoder moving disk flange through a screw connection or an interference fit connection.
4. The split encoder mounting structure of claim 1, wherein the first mounting structure is selected from a threaded hole or a mounting sheet metal part; the second mounting structure is selected from a threaded hole.
5. The split-type encoder mounting structure of claim 4, wherein the mounting sheet metal part is detachably connected with or integrally formed with the encoder static disc flange.
6. The split-type encoder mounting structure according to claim 1, wherein the encoder stationary disc flange and the encoder movable disc flange are respectively provided with a groove, and the rolling connection member is provided in the groove;
the encoder moving disc flange is provided with a second positioning step and an inner ring fixing flange, the second positioning step and the inner ring fixing flange form the groove, and the second positioning step and the inner ring fixing flange are detachably connected with the encoder moving disc flange or integrally formed;
the encoder is characterized in that a fourth positioning step and an outer ring fixing flange are arranged on the encoder static disc flange, the fourth positioning step and the outer ring fixing flange form the groove, and the fourth positioning step and the outer ring fixing flange are detachably connected or integrally formed with the encoder static disc flange respectively.
7. The split-type encoder mounting structure according to any one of claims 1 to 6, wherein the rolling connection member is a bearing; the bearing inner ring is fixedly connected with the encoder moving disc flange.
8. The split-type encoder mounting structure according to claim 7, wherein the bearing outer ring is connected with an inner ring of the encoder stationary disk flange in an interference fit manner, and the bearing inner ring is connected with an outer ring of the encoder movable disk flange in an interference fit manner.
9. The split-type encoder installation structure according to any one of claims 1 to 6, wherein the rolling connectors are selected from balls or rollers, and the encoder fixed disc flange and the encoder movable disc flange are respectively provided with symmetrically designed grooves matched with the rolling connectors; the encoder static disc flange, the encoder moving disc flange and the rolling connecting piece are matched to form a bearing structure.
10. A robot, characterized in that the split type encoder mounting structure according to any one of claims 1 to 9 is employed.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111676752.6A CN114147770A (en) | 2021-12-31 | 2021-12-31 | Split type encoder mounting structure and robot |
| PCT/CN2022/142850 WO2023125668A1 (en) | 2021-12-31 | 2022-12-28 | Split-type encoder mounting structure and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111676752.6A CN114147770A (en) | 2021-12-31 | 2021-12-31 | Split type encoder mounting structure and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114147770A true CN114147770A (en) | 2022-03-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111676752.6A Pending CN114147770A (en) | 2021-12-31 | 2021-12-31 | Split type encoder mounting structure and robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114147770A (en) |
| WO (1) | WO2023125668A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023125668A1 (en) * | 2021-12-31 | 2023-07-06 | 成都卡诺普机器人技术股份有限公司 | Split-type encoder mounting structure and robot |
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| CN109723727A (en) * | 2017-10-30 | 2019-05-07 | 西门子公司 | Encoder |
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| CN105500401B (en) * | 2016-01-04 | 2017-05-31 | 山东省科学院自动化研究所 | A kind of submissive cradle head with torque limit function |
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| CN207402804U (en) * | 2017-09-27 | 2018-05-25 | 华南理工大学 | A kind of six shaft mechanical arm of modularization |
| CN209140932U (en) * | 2018-11-30 | 2019-07-23 | 上海宇塚电子科技有限公司 | A kind of supporting structure for installing two groups of encoders |
| CN111745630B (en) * | 2020-06-04 | 2023-12-15 | 广东省智能制造研究所 | Mechanical module and installation method thereof |
| CN114147770A (en) * | 2021-12-31 | 2022-03-08 | 成都卡诺普机器人技术股份有限公司 | Split type encoder mounting structure and robot |
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2021
- 2021-12-31 CN CN202111676752.6A patent/CN114147770A/en active Pending
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2022
- 2022-12-28 WO PCT/CN2022/142850 patent/WO2023125668A1/en unknown
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| US20110067517A1 (en) * | 2009-09-22 | 2011-03-24 | Gm Global Technology Operations,Inc. | Rotary series elastic actuator |
| CN109723727A (en) * | 2017-10-30 | 2019-05-07 | 西门子公司 | Encoder |
| CN111289018A (en) * | 2020-03-06 | 2020-06-16 | 长春荣德光学有限公司 | Encoder of integrated bearing |
| CN214293189U (en) * | 2020-12-04 | 2021-09-28 | 广州机械科学研究院有限公司 | Encoder module, robot joint and robot |
| CN216658017U (en) * | 2021-12-31 | 2022-06-03 | 成都卡诺普机器人技术股份有限公司 | Split type encoder mounting structure and robot |
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| WO2023125668A1 (en) * | 2021-12-31 | 2023-07-06 | 成都卡诺普机器人技术股份有限公司 | Split-type encoder mounting structure and robot |
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| Publication number | Publication date |
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| WO2023125668A1 (en) | 2023-07-06 |
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