CN205766191U - Code-disc and rotary encoder and robot - Google Patents
Code-disc and rotary encoder and robot Download PDFInfo
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- CN205766191U CN205766191U CN201620467464.8U CN201620467464U CN205766191U CN 205766191 U CN205766191 U CN 205766191U CN 201620467464 U CN201620467464 U CN 201620467464U CN 205766191 U CN205766191 U CN 205766191U
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Abstract
This utility model relates to robotics, particularly relate to code-disc and rotary encoder and robot, code-disc includes the annular disk body with hollow hole, annular disk body is provided with annular code channel, annular code channel at least includes first area and second area, being interval with the first alternatively non-transparent district and the first transparent area between the first adjacent alternatively non-transparent district in first area, second area is interval with the second alternatively non-transparent district and the second transparent area between the second adjacent alternatively non-transparent district；The width in the first alternatively non-transparent district and different and/or the width of the first transparent area and the second transparent area the width of the width in the second alternatively non-transparent district are different.Code-disc of the present utility model, owing to first area and second area can export different positional informationes, so the demarcation line of first area Yu second area can be defined as zero point, when this demarcation line being detected, i.e. can start to calculate as leading zero's in this demarcation line, thus convenient judgement detects the absolute angle angle value that code-disc rotates.
Description
Technical field
This utility model relates to robotics, particularly relates to code-disc and rotary encoder and robot.
Background technology
Robot and automated arm have wide application market, and as a example by robot, robotics is as advanced person
The Typical Representative of manufacturing technology, is the multidisciplinary advanced technologies such as collection machinery, electronics, control, computer, sensor, artificial intelligence
Important modern manufacturing industry automated arm in one.Wherein, robot the most all has rotating base, the work of rotating base
Axial circular motion is carried out with the mechanical hand being band mobile robot.Wherein, outside rotating base, there is wire general connection, and when rotating
Easily affect mechanical hand carry out axial circular motion because being wound around wire when base carries out axial circular motion, then be accomplished by
Rotary encoder is set and is merely able in certain rotation angle range rotate to control axial circular motion, thus realize anti-tangle
Line.But the code-disc of existing rotary encoder is standard code-disc, the coding slit that width is identical is uniformly distributed, and is merely able to output and increases
Amount formula positional information, during use, location zero point is the most difficult, has some limitations.
Utility model content
The purpose of this utility model is provide a kind of code-disc and have rotary encoder and the robot of this code-disc, it is intended to
The code-disc that solution prior art is applied in robot is difficult to position the technical problem of zero point.
For achieving the above object, the technical solution of the utility model is: code-disc, including having the annular disk body of hollow hole,
Described annular disk body is provided with annular code channel, and described annular code channel at least includes first area and second area, described firstth district
The first alternatively non-transparent district and the first transparent area between adjacent described first alternatively non-transparent district it is interval with in territory, described second
Region is interval with the second alternatively non-transparent district and the second transparent area between adjacent described second alternatively non-transparent district；Described first
The width in alternatively non-transparent district is different from the width in described second alternatively non-transparent district and/or the width and described second of described first transparent area
The width of transparent area is different.
Preferably, the adjacent distance between described first alternatively non-transparent district is described second non-more than or less than adjacent
Distance between light district.
Preferably, the area of described first area is less than the area of described second area.
Preferably, the area of described first area is 1/14～2/7 with the area ratio of described second area.
Preferably, the thickness≤0.4mm of described annular disk body.
Preferably, described annular disk body is metal ring disk body, glass ring-shaped disk body, resin annular disk body or film ring
Shape disk body.
Preferably, the peritreme of described hollow hole is provided with at least one installation projection towards the hole heart extension of described hollow hole.
The beneficial effects of the utility model: code-disc of the present utility model, due to adjacent first arranged in first area
Distance between distance between alternatively non-transparent district the second adjacent alternatively non-transparent district arranged interior from second area is different, first area
Different positional informationes can be exported, then the demarcation line of first area Yu second area can be defined as zero with second area
Point, when this demarcation line being detected, i.e. can start to calculate as leading zero's in this demarcation line, thus facilitates judgement to detect code
The absolute angle angle value that dish rotates.
The second technical scheme of the present utility model is: rotary encoder, is connected including read head with the sensing of described read head
Code-disc, wherein, described code-disc is above-mentioned code-disc.
Rotary encoder of the present utility model, owing to employing above-mentioned code-disc, then read head can will detect code-disc
The demarcation line of first area and second area calculate, as leading zero's, the angle that code-disc rotates, such that it is able to realize definitions
Dish only rotates certain angle to realize spacing function.
The third technical scheme of the present utility model is: robot, including rotating base and being located on described rotating base
Mechanical hand, be provided with above-mentioned rotary encoder in described rotating base.
Preferably, described mechanical hand includes bracing frame, mechanical arm and actuator, and support frame as described above is fixed on described rotation
On base, described mechanical arm is installed on support frame as described above, and described actuator is connected with the end of described mechanical arm.
Robot of the present utility model, owing to employing above-mentioned rotary encoder in its rotating base, it can pass through
Leading zero's when read head identification code-disc in rotary encoder rotates judges to detect the rotational angle of code-disc, thus to rotation
The anglec of rotation of base carries out spacing, plays the effect preventing rotating base kinking.
Accompanying drawing explanation
The structural representation of the code-disc that Fig. 1 provides for this utility model embodiment.
Fig. 2 is the close-up schematic view in Fig. 1 at A.
The structural representation of the robot that Fig. 3 provides for this utility model embodiment.
Fig. 4 is the Section View of line C-C along Fig. 3.
Fig. 5 is the close-up schematic view in Fig. 4 at B.
Reference includes:
1 code-disc 2 read head 3 rotary encoder
4 rotating base 5 mechanical hand 6 bracing frames
7 mechanical arm 8 actuator 9 robots
10 annular disk body 11 hollow holes 12 install projection
20 annular code channel 21 first area 22 second areas
23 alternatively non-transparent district 212 first, demarcation line 211 first transparent areas
221 second alternatively non-transparent district 222 second transparent areas.
Detailed description of the invention
Of the present utility model embodiment is described below in detail, and the example of described embodiment is shown in the drawings, the most ad initio
Represent same or similar element to same or similar label eventually or there is the element of same or like function.Below by ginseng
It is exemplary for examining the embodiment that accompanying drawing 1～5 describes, it is intended to be used for explaining this utility model, and it is not intended that to this practicality
Novel restriction.
In description of the present utility model, it is to be understood that term " length ", " width ", " on ", D score, " front ",
Orientation or the position relationship of the instruction such as " afterwards ", "left", "right", " vertically ", " level ", " top ", " end " " interior ", " outward " are based on attached
Orientation shown in figure or position relationship, be for only for ease of description this utility model and simplify description rather than instruction or hint
The device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to this
The restriction of utility model.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include one or more this feature.In description of the present utility model, " multiple " are meant that two or two
Above, unless otherwise expressly limited specifically.
In this utility model, unless otherwise clearly defined and limited, term " install ", " being connected ", " connection ", " Gu
Fixed " etc. term should be interpreted broadly, connect for example, it may be fixing, it is also possible to be to removably connect, or integral；Can be
It is mechanically connected, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, can be two
The connection of element internal or the interaction relationship of two elements.For the ordinary skill in the art, can basis
Concrete condition understands above-mentioned term concrete meaning in this utility model.
As shown in Figures 1 to 5, the code-disc 1 that this utility model embodiment provides, including the annular disk body with hollow hole 11
10, described annular disk body 10 is provided with annular code channel 20, and described annular code channel 20 at least includes first area 21 and second area
22, it is interval with the first alternatively non-transparent district 211 in described first area 21 and between adjacent described first alternatively non-transparent district 211
The first transparent area 212, described second area 22 is interval with the second alternatively non-transparent district 221 and is positioned at adjacent described second non-
The second transparent area 222 between light district 221；The width in described first alternatively non-transparent district 211 and the width in described second alternatively non-transparent district 221
The width spending different and/or described first transparent area 212 is different from the width of described second transparent area 22.
The code-disc 1 of this utility model embodiment, due to the first adjacent alternatively non-transparent district 211 of arranging in first area 21 it
Between distance and second area 22 in distance between the second adjacent alternatively non-transparent district 221 of arranging different, first area 21 He
Second area 22 can export different positional informationes, then can be fixed with the demarcation line 23 of second area 22 by first area 21
Justice is zero point, when this demarcation line 23 being detected, i.e. can start to calculate as leading zero's in this demarcation line 23, thus conveniently sentences
Break and detect the absolute angle angle value that code-disc 1 rotates.Wherein, the code-disc 1 that this utility model embodiment provides is compiled mainly as rotating
The parts of code device 3 use, and use the rotary encoder 3 having this code-disc 1 then mainly as the parts use of robot 9.
Concrete, structure at least three modes of the code-disc 1 that this utility model embodiment provides:
One, the width in the first alternatively non-transparent district 211 and the width in the second alternatively non-transparent district 221 are different；So, first area 21 He
Second area 22 can export different positional informationes；
Two, the width of the first transparent area 212 and the width of the second transparent area 22 are different；Can likewise ensure that first area 21
Different positional informationes is exported with second area 22；
Three, the width in the first alternatively non-transparent district 211 and the width in the second alternatively non-transparent district 221 are different and the first transparent area 212
The width of width and the second transparent area 22 is different；Also ensure that first area 21 and second area 22 export different positions equally
Confidence ceases.
And the code-disc 1 that this utility model embodiment provides, overall structure is simple, with low cost and be easily achieved.
It should be noted that combine shown in Fig. 1, first area 21 is that a kind of relative area distribution sets with second area 22
Calmly, say, that the region first defined is first area 21, after, the region in first area 21 definition is second area
22。
Wherein, the first alternatively non-transparent district 211 and the second alternatively non-transparent district 221 can pass through printing-ink or chromium plating etch process
Designing, the first transparent area 212 and the second transparent area 222 then can be formed by itself belonging to transparent annular disk body 10.
In the present embodiment, shown in Fig. 2, the adjacent distance between described first alternatively non-transparent district 211 is more than adjacent
Distance between distance between described second alternatively non-transparent district 221, or adjacent described first alternatively non-transparent district 211 is less than adjacent
Described second alternatively non-transparent district 221 between distance (this structure is not shown).Concrete, by by the first adjacent alternatively non-transparent district
Distance between 211 set more than or less than the distance between the second adjacent alternatively non-transparent district 221, so so that the
One region 21 and second area 22 form a demarcation line 23, during code-disc 1 specific works, read head 2 from first area 21 through too
When boundary line 23 enters second area 22, first area 21 and second area 22 export different information respectively, then with demarcation line
23 as leading zero's, and read head 2 continues through second area 22 and starts to calculate the rotational angle of code-disc 1, when code-disc 1 turns to one
After fixed angle, being exported by this angle signal on read head 2, the control module that read head 2 transfers signals to be correlated with controls code-disc 1
It is rotated further, thus realizes spacing effect.
In the present embodiment, shown in Fig. 1, the area of described first area 21 is less than the area of described second area 22.
Concrete, the effect of first area 21 is to form a demarcation line 23 with second area 22, thus conveniently defines leading zero's, that
The area relative to second area 22 set by the area of first area 21, can directly increase the face of second area 22
Long-pending, after so the demarcation line 23 from first area 21 with second area 22 starts to calculate leading zero's, when code-disc 1 is rotated further,
The angular range of the second area 22 that read head 2 can detect can be bigger, the rotational angle range of the code-disc 1 that namely can limit
Bigger, range of application is wider.
In the present embodiment, shown in Fig. 1, the area of described first area 21 with the area ratio of described second area 22 is
1/14～2/7.Concrete, the area ratio of the area of first area 21 and second area 22 can be 1/14,1/7,3/14 or
2/7, the area in this kind of first area 21 and the setting of the area ratio of second area 22, can meet major part code-disc 1 turn
Move the spacing of angle；Preferably, the area of first area 21 is 1/7 with the area ratio of second area 22.
In the present embodiment, the thickness≤0.4mm of described annular disk body 10.Concrete, the thickness of annular disk body 10 can be
0.1mm, 0.2mm, 0.3mm or 0.4mm, the design at the annular disk body 10 of above-mentioned one-tenth-value thickness 1/10 may insure that code-disc 1 is normal
Output signal, normally works, and will not occupy bigger installing space or impact installation because thickness is the thickest, and structure designs
Rationally, practical.
In the present embodiment, described annular disk body 10 be metal ring disk body, glass ring-shaped disk body, resin annular disk body or
Film annular disk body.Concrete, according to actually used situation, use the materials such as metal, glass, resin or the film to make annular
Disk body 10 so that product diversification, to adapt to different applied environments.
In the present embodiment, shown in Fig. 1, the peritreme of described hollow hole 11 sets towards the hole heart extension of described hollow hole 11
There is at least one that projection 12 is installed.Concrete, code-disc 1 is typically mounted at outside rotary shaft, such as by centering elements by solid for code-disc 1
It is scheduled on outside rotary shaft, then in order to enhancing ring shape code dish 1 installs the stability after being connected with centering elements, can be by code-disc 1
The extended installation projection 12 of hollow hole 11 is inlaid on centering elements；Meanwhile, install projection 12 also have convenient location and
The effect of fool proof.
Shown in Fig. 1, it is preferable that installing projection 12 has two, and two installation projection 12 contour structures are variant, this
The fool proof that sample realizes is better.
Shown in Fig. 5, this utility model embodiment additionally provides a kind of rotary encoder 3, including read head 2 with described
The above-mentioned code-disc 1 that read head 2 sensing connects.
The rotary encoder 3 of this utility model embodiment, owing to employing above-mentioned code-disc 1, then read head 2 can will be examined
The demarcation line 23 of the first area 21 and second area 22 that measure code-disc 1 calculates, as leading zero's, the angle that code-disc 1 rotates, from
And can realize defining code-disc 1 and rotate certain angle to realize spacing function.
Shown in Fig. 3～5, the rotary encoder 3 in the present embodiment is mainly used in the rotating base 4 of robot 9,
Rotating base 4 is carried out spacing.
Shown in Fig. 1～5, this utility model embodiment additionally provides a kind of robot 9, including rotating base 4 with set
Mechanical hand 5 on described rotating base 4, is provided with above-mentioned rotary encoder 3 in described rotating base 4.
The robot 9 of this utility model embodiment, owing to employing above-mentioned rotary encoder 3 in its rotating base 4, its
Leading zero's when can identify that code-disc 1 rotates by the read head 2 in rotary encoder 3 judges to detect the angle of rotation of code-disc 1
Degree, thus the anglec of rotation of rotating base 4 is carried out spacing, play the effect preventing rotating base 4 kinking.
In the present embodiment, shown in Fig. 3～4, described mechanical hand 5 includes bracing frame 6, mechanical arm 7 and actuator 8,
Support frame as described above 6 is fixed on described rotating base 4, and described mechanical arm 7 is installed on support frame as described above 6, described actuator 8
It is connected with the end of described mechanical arm 7.Concrete, rotating base 4 rotates and drives bracing frame 6 to rotate, bracing frame 6 driving mechanical arm
7 rotate, and mechanical arm 7 drives actuator 8 to rotate again, thus realizes axial motion.There is the rotary encoder of above-mentioned code-disc 1
The angle of rotating base 4 axial rotation can be defined by 3, thus the wire avoiding robot 9 to be connected to outside is wrapped in
In bracing frame 6, mechanical arm 7 or actuator 8, it is achieved the function of anti-kinking.
Understanding this utility model in sum is to have above-described good characteristic, is made it on using, promotes
The usefulness that do not has in conventional art and there is practicality, become the product of a great practical value.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all at this
Any amendment, equivalent or the improvement etc. made within the thought of utility model and principle, should be included in this utility model
Protection domain within.
Claims (10)
1. code-disc, including having the annular disk body of hollow hole, described annular disk body is provided with annular code channel, it is characterised in that: institute
State annular code channel and at least include first area and second area, be interval with the first alternatively non-transparent district in described first area and be positioned at
Adjacent the first transparent area between described first alternatively non-transparent district, described second area is interval with the second alternatively non-transparent district and is positioned at
Adjacent the second transparent area between described second alternatively non-transparent district；The width in described first alternatively non-transparent district and described second alternatively non-transparent
Different and/or described first transparent area the width of the width in district is different from the width of described second transparent area.
Code-disc the most according to claim 1, it is characterised in that: the adjacent distance between described first alternatively non-transparent district is more than
Or less than the distance between adjacent described second alternatively non-transparent district.
Code-disc the most according to claim 1, it is characterised in that: the area of described first area is less than described second area
Area.
Code-disc the most according to claim 1, it is characterised in that: the area of described first area and the face of described second area
Long-pending ratio is 1/14～2/7.
5. according to the code-disc described in any one of Claims 1 to 4, it is characterised in that: the thickness≤0.4mm of described annular disk body.
6. according to the code-disc described in any one of Claims 1 to 4, it is characterised in that: described annular disk body be metal ring disk body,
Glass ring-shaped disk body, resin annular disk body or film annular disk body.
7. according to the code-disc described in any one of Claims 1 to 4, it is characterised in that: the peritreme of described hollow hole is towards in described
The hole heart extension of emptying aperture is provided with at least one and installs projection.
8. rotary encoder, senses, including read head with described read head, the code-disc being connected, it is characterised in that: described code-disc is right
Require the code-disc described in 1～7 any one.
9. robot, including rotating base and the mechanical hand being located on described rotating base, it is characterised in that: described rotating base
Inside it is provided with the rotary encoder described in claim 8.
Robot the most according to claim 9, it is characterised in that: described mechanical hand includes bracing frame, mechanical arm and execution
Mechanism, support frame as described above is fixed on described rotating base, and described mechanical arm is installed on support frame as described above, described actuator
It is connected with the end of described mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620467464.8U CN205766191U (en) | 2016-05-19 | 2016-05-19 | Code-disc and rotary encoder and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620467464.8U CN205766191U (en) | 2016-05-19 | 2016-05-19 | Code-disc and rotary encoder and robot |
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| Publication Number | Publication Date |
|---|---|
| CN205766191U true CN205766191U (en) | 2016-12-07 |
Family
ID=58117642
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620467464.8U Active CN205766191U (en) | 2016-05-19 | 2016-05-19 | Code-disc and rotary encoder and robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108700410A (en) * | 2017-04-28 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Position detecting device, method and rotation system |
| CN109079778A (en) * | 2018-08-07 | 2018-12-25 | 珠海格力电器股份有限公司 | Robot zero-setting system and method |
| CN112869824A (en) * | 2021-01-15 | 2021-06-01 | 苏州微创畅行机器人有限公司 | Surgical tool guide device, guide assembly, surgical system, and storage medium |
-
2016
- 2016-05-19 CN CN201620467464.8U patent/CN205766191U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108700410A (en) * | 2017-04-28 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Position detecting device, method and rotation system |
| WO2018195966A1 (en) * | 2017-04-28 | 2018-11-01 | 深圳市大疆创新科技有限公司 | Position detecting device, method, and rotating system |
| CN109079778A (en) * | 2018-08-07 | 2018-12-25 | 珠海格力电器股份有限公司 | Robot zero-setting system and method |
| CN112869824A (en) * | 2021-01-15 | 2021-06-01 | 苏州微创畅行机器人有限公司 | Surgical tool guide device, guide assembly, surgical system, and storage medium |
| CN112869824B (en) * | 2021-01-15 | 2022-06-03 | 苏州微创畅行机器人有限公司 | Surgical tool guide device, guide assembly, surgical system, and storage medium |
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