CN114670250A

CN114670250A - Double-encoder device and robot

Info

Publication number: CN114670250A
Application number: CN202011544035.3A
Authority: CN
Inventors: 高瑜刚; 孙恺
Original assignee: Suzhou Elite Robot Co Ltd
Current assignee: Suzhou Elite Robot Co Ltd
Priority date: 2020-12-24
Filing date: 2020-12-24
Publication date: 2022-06-28

Abstract

The invention relates to a double-encoder device and a robot, wherein the double-encoder device comprises an encoder bracket, a first rotating assembly and a second rotating assembly which are arranged on the encoder bracket, two encoder code wheels and corresponding reading heads, one of the two encoder code wheels is connected with the first rotating assembly, the other of the two encoder code wheels is connected with the second rotating assembly, the encoder bracket comprises a mounting part for fixing the double-encoder device and bosses which are formed on the surface of the encoder bracket, and the bosses are used for mounting the reading heads to one side of the respective code wheels. The invention has the beneficial effects that: the dual encoder device has high modularization degree and is easy to assemble and maintain after sale.

Description

Double-encoder device and robot

Technical Field

The invention relates to the technical field of motor production, in particular to a double-encoder device and a robot.

Background

With the rapid development of science and technology, the application field of robots is increasingly wide, and cooperative robots enter more light industrial production as automated labor working in cooperation with human beings. The new application field also provides higher requirement indexes for the cooperative robot, namely the cooperative robot needs low professional technical requirements and high safety for cooperative with people.

An encoder is an important detection component, and can be used to acquire information such as position and speed. An encoder typically includes a code wheel, a readhead, which need to be mounted to corresponding positions so that the readhead can normally read the information of the code wheel.

Among the prior art, cooperation robot encoder mainly includes motor encoder and joint encoder, and above-mentioned two kinds of encoders respectively have solitary support, install respectively on the joint shell, and the modularization degree is high inadequately, the later maintenance of being not convenient for.

Therefore, it is necessary to design a dual encoder device and a robot with high modularization degree, which is convenient for assembly and after-sale maintenance.

Disclosure of Invention

In view of this, the present invention provides a dual encoder device and a robot with high modularization degree, which is convenient for assembly and after-sales maintenance.

The invention can adopt the following technical scheme: a dual encoder device comprises an encoder bracket, a first rotating assembly and a second rotating assembly which are arranged on the encoder bracket, two encoder code discs and corresponding read heads, wherein one of the two encoder code discs is connected to the first rotating assembly, the other of the two encoder code discs is connected to the second rotating assembly, the encoder bracket comprises an installation part for fixing the dual encoder device and a boss which is formed on the surface of the encoder bracket, and the boss is used for installing the read heads to one side of the respective code discs.

Further, the first rotating assembly and the second rotating assembly are arranged on two sides of the encoder bracket, and the two sides of the encoder bracket respectively comprise bosses for mounting the reading head to one side of the respective code disc.

Further, the two encoder code discs comprise an optical code disc and a magnetic code disc, the corresponding reading heads comprise an optical code disc reading head and a magnetic code disc reading head, the first rotating assembly is connected with the optical code disc, and the second rotating assembly is connected with the magnetic code disc.

Further, the encoder bracket comprises a dustproof cover arranged on the outer side of the first rotating assembly so as to protect the optical code disc from dust.

Furthermore, the first rotating assembly and the second rotating assembly are used for connecting different output shafts, the first rotating assembly is used for connecting a high-speed output shaft, and the second rotating assembly is used for connecting a low-speed output shaft.

Further, the first rotating assembly and the second rotating assembly respectively comprise a rotating shaft and a bearing.

Further, the two encoder code discs are code discs of the same type or code discs of different types, the types of the two encoder code discs comprise one or two of an optical code disc, a magnetic code disc, an induction code disc and a capacitance code disc, and the types of the reading heads of the dual-encoder device correspondingly comprise one or two of an optical code disc reading head, a magnetic code disc reading head, an induction code disc reading head and a capacitance code disc reading head.

The invention can also adopt the following scheme: a robot comprising a link and a plurality of joints, the joints comprising: a housing; the harmonic reducer comprises a harmonic reducer input shaft and a harmonic reducer output shaft; the motor comprises a motor shaft, and the motor shaft is connected to an input shaft of the harmonic reducer; the joint flange comprises a flange shaft, and the flange shaft is connected to an output shaft of the harmonic reducer; the joint comprises the double encoder device of any one of the above, the double encoder device is used for detecting position and speed information of the input shaft and the output shaft of the harmonic reducer, the end part of the input shaft of the harmonic reducer is connected with the first rotating assembly, the end part of the output shaft of the harmonic reducer is connected with the second rotating assembly, the double encoder device is further used for enabling the robot to be a cooperative robot.

Compared with the prior art, the specific implementation mode of the invention has the beneficial effects that: the double-encoder device comprises a first rotating component and a second rotating component which rotate independently, the first rotating component and the second rotating component are connected with an encoder coded disc respectively, the read head is installed on one side of the coded disc through a boss of an encoder support, the problem that the encoder detection is unstable due to unstable position between the encoder coded disc and the read head is avoided, meanwhile, the double-encoder device is integrated with two encoders, the problem that the traditional two encoders need to be assembled by parts and installation supports is avoided, the modularization degree of the double-encoder device is high, and assembly and after-sale maintenance are facilitated.

Drawings

The above objects, technical solutions and advantages of the present invention can be achieved by the following drawings:

FIG. 1 is a schematic diagram of a dual encoder apparatus according to an embodiment of the present invention

FIG. 2 is a front view of a dual encoder apparatus according to an embodiment of the present invention

FIG. 3 is a cross-sectional view of the dual encoder apparatus shown in FIG. 2 taken along line A-A

FIG. 4 is an exploded view of a dual encoder apparatus according to one embodiment of the present invention

FIG. 5 is a cross-sectional view of a robot joint according to an embodiment of the present invention

FIG. 6 is a schematic view of a robot according to an embodiment of the present invention

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be described in detail and fully with reference to the accompanying drawings in the following 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 invention protects a dual encoder device, refer to fig. 1-4, the dual encoder device, 1, including the encoder support 10, mount to the first rotating assembly 21 and second rotating assembly 22 of the said encoder support, and two encoder code wheels 30 and corresponding reading heads 31, one of the said two encoder code wheels 30 connects to the said first rotating assembly 21, another connects to the said second rotating assembly 22, the said encoder support 10 includes the mount part 12 used for fixing the said dual encoder device and boss 11 formed on the surface of the said encoder support, the said boss 11 is used for mounting the said reading head 31 to the side of respective code wheel 30. Specifically, first rotating component 21 and second rotating component 22 include pivot and bearing respectively, pivot and bearing are connected, first rotating component's bearing and second rotating component's bearing connect respectively in encoder support 10, specifically, encoder support 10 is the loop configuration, first rotating component 21's bearing with second rotating component 22's bearing connect in inside the loop configuration, first rotating component and second rotating component can be respectively relative the encoder support rotates, first rotating component 21 and second rotating component 22 rotate independently. The encoder bracket 10 may mount two encoder code wheels 30, each encoder code wheel 30 having a corresponding read head 31, the two encoder code wheels 30 being mounted to the first and second rotating

assemblies

21 and 22, respectively, the bosses 11 of the encoder bracket 10 being used to mount the corresponding code wheel heads 31 to the respective code wheel 30 sides. By arranging the first rotating assembly 21 and the second rotating assembly 22, the dual encoder device 1 can generate two independent rotations, the encoder code wheels 30 can be installed respectively, and the two encoder code wheels 30 can work independently. Further, the two encoder code disks 30 respectively include corresponding read heads 31, and the bosses 11 of the encoder bracket may mount the read heads 31 to the respective code disk 30 sides to respectively detect the respective code disk information. Two encoder code wheels 30 are respectively installed on the first rotating assembly 21 and the second rotating assembly 22, the corresponding reading heads are installed on the boss 11, the position between the corresponding code wheels 30 and the boss 11 is constant, only by designing the size of the boss of the encoder support, a proper distance can be kept between the code wheels and the boss all the time, detection is convenient, meanwhile, the positions of the two encoder code wheels installed on the first rotating assembly and the second rotating assembly are stable, and the detection effect of the encoder device is stable. The mode that the encoder code wheel is arranged on the rotating shaft in the prior art enables the position of the code wheel to be relatively unfixed, the distance between the code wheel and the boss needs to be adjusted, and the stability of encoder detection is affected. Meanwhile, the first rotating assembly, the second rotating assembly, the two encoder code discs and the corresponding reading heads are integrated in the double-encoder device, and compared with a mode that the encoders are independently designed and the encoder mounting bracket is independently used for mounting, the double-encoder device is high in modularization degree, reduces assembly parts and is beneficial to assembly and after-sale maintenance.

The dual encoder device 1 comprises a first rotating assembly 21 and a second rotating assembly 22 mounted to the encoder support 10. in one embodiment of the present invention, the first rotating assembly 21 and the second rotating assembly 22 are disposed on both sides of the encoder support 10, and both sides of the encoder support 10 respectively comprise bosses 11 to mount the readhead to the respective code wheel 30 side. It will be appreciated that the encoder code wheel 30 includes a read side against which the readhead is mounted, and a non-read side.

The dual encoder device 1 comprises two encoder code discs 30, in one embodiment of the present invention, the two encoder code discs 30 comprise an optical code disc and a magnetic code disc, the corresponding read head 31 comprises an optical code disc read head and a magnetic code disc read head, the first rotating assembly 21 is connected with the optical code disc, and the second rotating assembly 22 is connected with the magnetic code disc. In other embodiments of the present invention, the two encoder code disks are code disks of the same type or code disks of different types, the type of the two encoder code disks includes one or two of an optical code disk, a magnetic code disk, an inductive code disk and a capacitive code disk, and the type of the reading head of the dual encoder device correspondingly includes one or two of an optical code disk reading head, a magnetic code disk reading head, an inductive code disk reading head and a capacitive code disk reading head. In one embodiment of the present invention, the first rotating assembly 21 and the second rotating assembly 22 are used for connecting different output shafts, the first rotating assembly is used for connecting a high-speed output shaft, and the second rotating assembly is used for connecting a low-speed output shaft. For example, referring to FIG. 5, the dual encoder device 1 may generally be used to connect to an input shaft 71 and an output shaft 72 of a harmonic reducer 70, with the input shaft 71 of the harmonic reducer 70 connected to a high speed output shaft and the output shaft 72 of the harmonic reducer 70 connected to a low speed output shaft. The rotating speed of one side of the first rotating assembly 21 is high, the rotating speed of one side of the second rotating assembly 22 is low, the relative accuracy of the photoelectric encoder is high, the cost is high, the first rotating assembly is connected with the optical code disc, the second rotating assembly is connected with the magnetic code disc, and therefore the double encoder is good in detection accuracy and low in cost. Specifically, the encoder bracket includes a dust cover disposed outside the first rotating assembly to protect the optical encoder disc from dust, so as to ensure the detection accuracy of the optical encoder portion of the dual encoder device.

In one embodiment of the present invention, the first rotating assembly 21 and the second rotating assembly 22 are used for connecting different output shafts, the first rotating assembly 21 is used for connecting a high-speed output shaft, the second rotating assembly 22 is used for connecting a low-speed output shaft, and the first rotating assembly 21 and the second rotating assembly 22 work independently to enable the encoder code discs to detect information of different output shafts independently.

The beneficial effects of the above preferred embodiment are: the double-encoder device comprises a first rotating component and a second rotating component which rotate independently, the first rotating component and the second rotating component are connected with an encoder coded disc respectively, the read head is installed on one side of the coded disc through a boss of an encoder support, the problem that the encoder detection is unstable due to unstable position between the encoder coded disc and the read head is avoided, meanwhile, the double-encoder device is integrated with two encoders, the problem that the traditional two encoders need to be assembled by parts and installation supports is avoided, the modularization degree of the double-encoder device is high, and assembly and after-sale maintenance are facilitated.

The invention also protects a robot 5, see fig. 6, comprising a link 50 and a number of joints 60, see fig. 5, said joints 60 comprising a housing 61; a harmonic reducer 70 including a harmonic reducer input shaft 71 and an output shaft 72; a motor 80 including a motor shaft connected to the input shaft 71 of the harmonic reducer 70; a knuckle flange 90 including a flange shaft connected to the output shaft 72 of the harmonic reducer; the joint 60 includes the dual encoder device 1 as described in any of the above, the dual encoder device 1 is configured to detect position and speed information of the harmonic reducer input shaft 71 and the harmonic reducer output shaft 72, an end of the harmonic reducer input shaft 71 is connected to the first rotating component 21, an end of the harmonic reducer output shaft 72 is connected to the second rotating component 22, and the dual encoder device 1 is connected to the housing through the mounting portion 12. Further, the robot 5 is a cooperative robot. The joint 60 of the robot comprises a double-encoder device 1, and the double-encoder device 1 respectively detects the position and speed information of the input end 71 and the output end 72 of the harmonic reducer, so that the redundant safety detection mechanism of the robot is realized through the double-encoder device 1. Meanwhile, compared with a mode of independently installing two encoders, the double-encoder device 1 adopted by the robot has high modularization degree and compact structure, so that the robot provided by the invention has the advantages of better safety, compact structure and easiness in maintenance.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A dual encoder device, comprising an encoder bracket, first and second rotary members mounted to the encoder bracket, and two encoder code disks and corresponding readheads, one of the two encoder code disks being connected to the first rotary member and the other being connected to the second rotary member, the encoder bracket comprising a mounting portion for fixing the dual encoder device and bosses formed on a surface of the encoder bracket for mounting the readheads to a side of the respective code disks.

2. The dual encoder device of claim 1, wherein the first and second rotating assemblies are disposed on either side of the encoder bracket, each side of the encoder bracket including a boss to mount the readhead to a respective code wheel side.

3. The dual encoder device of claim 1, wherein the two encoder code disks comprise an optical code disk and a magnetic code disk, the corresponding readhead comprises an optical code disk readhead and a magnetic code disk readhead, the first rotating assembly is coupled to the optical code disk, and the second rotating assembly is coupled to the magnetic code disk.

4. The dual encoder device of claim 3, wherein the encoder bracket includes a dust cover disposed outside the first rotating assembly to provide dust protection to the optical code disc.

5. The dual encoder device of claim 1, wherein the first and second rotating assemblies are configured to couple to different output shafts, the first rotating assembly being configured to couple to a high speed output shaft and the second rotating assembly being configured to couple to a low speed output shaft.

6. The dual encoder device of claim 1, wherein the first and second rotating assemblies each comprise a shaft and a bearing.

7. The dual encoder device of claim 1, wherein the two encoder code disks are of the same type or different types, the type of the two encoder code disks includes one or two of an optical code disk, a magnetic code disk, an inductive code disk and a capacitive code disk, and the type of the readhead of the dual encoder device correspondingly includes one or two of an optical code disk readhead, a magnetic code disk readhead, an inductive code disk and a capacitive code disk readhead.

8. A robot comprising a link and a plurality of joints, the joints comprising:

a housing;

the harmonic reducer comprises a harmonic reducer input shaft and a harmonic reducer output shaft;

the motor comprises a motor shaft, and the motor shaft is connected to an input shaft of the harmonic reducer;

the joint flange comprises a flange shaft, and the flange shaft is connected to an output shaft of the harmonic reducer;

the joint is characterized by comprising a double encoder device according to any one of claims 1 to 7, wherein the double encoder device is used for detecting position and speed information of an input shaft and an output shaft of the harmonic reducer, the end part of the input shaft of the harmonic reducer is connected with the first rotating assembly, the end part of the output shaft of the harmonic reducer is connected with the second rotating assembly, and the double encoder device is connected to the shell through the mounting part.

9. A robot as claimed in claim 8, characterized in that the robot is a cooperative robot.