CN206344177U - Grating speed-measuring structure, code-disc motor and robot - Google Patents
Grating speed-measuring structure, code-disc motor and robot Download PDFInfo
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- CN206344177U CN206344177U CN201621448893.7U CN201621448893U CN206344177U CN 206344177 U CN206344177 U CN 206344177U CN 201621448893 U CN201621448893 U CN 201621448893U CN 206344177 U CN206344177 U CN 206344177U
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- encoder
- code
- disc
- motor
- neck
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Abstract
The utility model discloses grating speed-measuring structure, code-disc motor and robot, belong to robot field.The utility model provides a kind of grating speed-measuring structure for being tested the speed to motor, including pedestal, code-disc, encoder and circuit board.Motor is fixedly installed on pedestal, and code-disc fixed cover is on the output shaft of motor, and encoder is mounted on pedestal with circuit board.Encoder is electrically connected with circuit board, and encoder cooperates with code-disc.The utility model also provides a kind of code-disc motor, including direct current generator and grating speed-measuring structure.The utility model also provides a kind of robot, including robot body, moving cell, decelerator and code-disc motor.Grating speed-measuring structure, code-disc motor and the robot architecture that the utility model is provided are simple, easy to assembly, on the one hand can ensure the rate accuracy of microminiature direct current generator, on the other hand also allow for volume production.
Description
Technical field
The utility model is related to robot field, in particular to grating speed-measuring structure, code-disc motor and robot.
Background technology
Rotating speed is a mostly important state parameter of motor, and it is an important performance indications of motor, holds it
The test and the accuracy of fault detection and diagnosis that have related parameter and characteristic；In closed loop speed control system, test the speed dress
Put and belong to feedback element, the rapidity and precision of Rotating speed measring refer to the control effect and dynamic and static state performance of the system that directly affects
Mark.
It is the scheme being dirt cheap to be tested the speed using grating, is easily realized, and the effect that tests the speed can expire within the specific limits
The most demand of foot.
But for the direct current generator of microminiature, because the diameter of output shaft is very tiny, code-disc also can be very small, and
Thickness is also very thin, and the A/F of the U-shaped encoder for testing the speed is also very narrow.Direct current generator output shaft is followed to rotate in code-disc
When, gap between code-disc and encoder also very little.Due to the presence of mismachining tolerance, grating speed measuring device is in microminiature direct current
There is the problem of testing the speed inaccurate in the practice that machine tests the speed.The same precision for ensureing grating speed measuring device in installation process
There is certain difficulty.Such as, the skew of code-disc in the vertical direction can not too big, encoder must be strictly parallel with code-disc, no
Then, code-disc easily encounters encoder when rotation, causes to test the speed inaccurate or breaks down.
Utility model content
The purpose of this utility model is to provide a kind of grating speed-measuring structure, and its is simple in construction, easy to assembly, the amount of being easy to
Production.
Another object of the present utility model is to provide a kind of code-disc motor, and its is simple in construction, easy to assembly, the amount of being easy to
Production.
Another object of the present utility model is to provide a kind of robot, and its is simple in construction, it is accurate to test the speed.
It is of the present utility model that a kind of technical scheme is provided：
A kind of grating speed-measuring structure, tests the speed for entering line raster to motor.Grating speed-measuring structure includes pedestal, code-disc, volume
Code device and circuit board, motor are fixedly installed on pedestal, and code-disc fixed cover is on the output shaft of motor.Encoder and circuit board
It is mounted on pedestal, encoder is electrically connected with circuit board.Encoder cooperates with code-disc, to enter line raster survey to motor
Speed.
Further, the first installation portion and the second installation portion are provided with said base.First installation portion connects with encoder
Connect, the second installation portion is connected with circuit board.
Further, above-mentioned first installation portion is the first neck, encoder and the first neck clamping.Second installation portion is the
Two draw-in groove, circuit board and the second neck clamping.First installation portion is used for regular coding device in a first direction, and the second installation portion is used
In regular coding device in a second direction.
Further, above-mentioned first neck is U-shaped.The U-shaped opening direction of first neck is relative with code-disc, encoder laminating
In on the madial wall of the first neck.Two relative support divisions of first neck are supported to encoder, with a first direction
Regular coding device.
Further, above-mentioned encoder is fixedly installed on circuit board, and the second neck is U-shaped.The openings of second neck
To consistent with the output shaft of motor, and towards the first neck.Circuit board and the second neck clamping, encoder and the first neck card
Connect, with regular coding device in a second direction.
Further, above-mentioned grating speed-measuring structure also includes wheel cover.Wheel cover is fixedly installed in pedestal, and wheel cover is used for the 3rd
Regular coding device on direction.
Further, above-mentioned wheel cover is provided with protuberance.Pedestal and protuberance by encoder be held between the two, with
Regular coding device on third direction.
Further, above-mentioned wheel cover is fixedly installed in pedestal by self-tapping screw.
The utility model also provides another technical scheme：
A kind of code-disc motor, including direct current generator and grating speed-measuring structure.Direct current generator is installed on pedestal, code-disc fixed cover
On the output shaft of direct current generator.Grating speed-measuring structure includes pedestal, code-disc, encoder and circuit board, and motor is fixedly mounted
In on pedestal, code-disc fixed cover is on the output shaft of motor.Encoder is mounted on pedestal with circuit board, encoder and electricity
Road plate electrical connection.Encoder cooperates with code-disc, is tested the speed with entering line raster to motor.
The utility model also provides another technical scheme：
A kind of robot, including robot body, moving cell, decelerator and code-disc motor.Code-disc motor, including direct current
Motor and grating speed-measuring structure.Direct current generator is installed on pedestal, and code-disc fixed cover is on the output shaft of direct current generator.Robot
Body is connected with moving cell, and code-disc motor is installed on inside robot body, and code-disc motor is connected with decelerator, is slowed down
The output shaft of device is connected with moving cell, and drives moving cell to move.
Compared with prior art, the beneficial effect of the utility model is provided grating speed-measuring structure, code-disc motor and robot
It is：
Encoder is installed on pedestal, and is fixed on pedestal.When code-disc follows the output shaft rotation of motor, encoder and base
Seat and motor keep geo-stationary.Encoder remains constant relative to the position relationship of code-disc, so that grating tests the speed more
Plus it is accurate.Encoder and circuit board can also be advantageously mounted on pedestal simultaneously, further increase the group of grating speed-measuring structure
Efficiency is filled, so that the rate accuracy of the direct current generator of microminiature on the one hand can be ensured, volume production is on the other hand also allowed for.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme of the utility model embodiment, it will use below required in embodiment
Accompanying drawing be briefly described, it will be appreciated that the following drawings illustrate only some embodiments of the present utility model, therefore should not be by
Regard the restriction to scope as, for those of ordinary skill in the art, on the premise of not paying creative work, may be used also
To obtain other related accompanying drawings according to these accompanying drawings.
The structural representation for the grating speed-measuring structure that Fig. 1 provides for the utility model first embodiment；
Fig. 2 is the mplifying structure schematic diagram at II in Fig. 1；
Encoder and the mounting structure schematic diagram of circuit board that Fig. 3 provides for the utility model first embodiment；
The first installation portion and the structural representation of the second installation portion that Fig. 4 provides for the utility model first embodiment.
Icon：100- grating speed-measuring structures；110- pedestals；The installation portions of 112- first；The installation portions of 114- second；120- direct currents
Motor；130- code-discs；140- encoders；150- circuit boards；160- wheel covers；161- protuberances.
Embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that retouched
The embodiment stated is a part of embodiment of the utility model, rather than whole embodiments.Generally here described in accompanying drawing and
The component of the utility model embodiment shown can be arranged and designed with a variety of configurations.
Therefore, the detailed description of embodiment of the present utility model below to providing in the accompanying drawings is not intended to limit requirement
The scope of the present utility model of protection, but it is merely representative of selected embodiment of the present utility model.Based in the utility model
Embodiment, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, all
Belong to the scope of the utility model protection.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it further need not be defined and explained in subsequent accompanying drawing.
In description of the present utility model, it is necessary to explanation, term " on ", " interior ", " outer ", etc. instruction orientation or position
It is or the orientation that the utility model product is usually put when using based on orientation shown in the drawings or position relationship to put relation
Or position relationship, be for only for ease of description the utility model and simplify and describe, rather than indicate or imply signified device or
Element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to limit of the present utility model
System.
In addition, term " first " and " second " etc. are only used for distinguishing description, and it is not intended that indicating or implying relatively heavy
The property wanted.
In description of the present utility model, in addition it is also necessary to which explanation, unless otherwise clearly defined and limited, term " are set
Put ", " installation ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be directly connected to, can also be indirectly connected with by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
Below in conjunction with the accompanying drawings, embodiment of the present utility model is elaborated.
First embodiment
Referring to Fig. 1, present embodiments providing a kind of grating speed-measuring structure 100, its is simple in construction, easy to assembly, is applicable
Tested the speed in the accurate of micro motor.
Referring to Fig. 2, the grating speed-measuring structure 100 that the present embodiment is provided tests the speed for entering line raster to direct current generator 120,
Including pedestal 110, code-disc 130, encoder 140 and circuit board 150.Direct current generator 120 is fixedly installed on pedestal 110, code-disc
130 fixed covers are on the output shaft of direct current generator 120, and encoder 140 is mounted on pedestal 110 with circuit board 150.Coding
Device 140 is electrically connected with circuit board 150, and encoder 140 cooperates with code-disc 130, to enter line raster survey to direct current generator 120
Speed.
The mode that code-disc 130 is sheathed on the output shaft of direct current generator 120 can be glue bond, and code-disc 130 is sheathed on motor
Output shaft is simultaneously rotated with the output shaft.The output shaft of direct current generator 120 pass through code-disc 130 center, make code-disc 130 with
Motor does not shift during rotating.
Encoder 140 is installed on pedestal 110, and its mounting means can be bonding or snap connection or pass through
Connector connection etc..In the present embodiment, encoder 140 is U-shaped, and opening direction and the code-disc 130 of the encoder 140 of U-shaped
Diametric(al) it is consistent.U-shaped encoder 140 is opened on that code-disc 130 is relative, and the subregion of code-disc 130 is located at the opening
It is interior, so as to realize the measurement to the rotating speed of direct current generator 120.
Simultaneously it should be understood that the implication that code-disc 130 and circuit board 150 are installed on pedestal 110 is merely representative of code-disc 130
It is static relative to pedestal 110 with circuit board 150.Code-disc 130 and circuit board 150 can be directly mounted on pedestal 110, can also
Used middleware is installed on pedestal 110.In the present embodiment, code-disc 130 and circuit board 150 are directly mounted at pedestal 110
On.Certainly, it is not limited to that, in other embodiment of the present utility model, code-disc 130 and circuit board 150 can also pass through
Middleware is installed on pedestal 110.It may be mounted at such as circuit board 150 on the shell of direct current generator 120 (direct current generator 120
Shell is installed on pedestal 110, and it is static relative to pedestal 110.The shell of direct current generator 120 is exactly by circuit board 150
The middleware being installed on pedestal 110) or circuit board 150 and code-disc 130 be installed in the shell of direct current generator 120
On.
In order that grating tests the speed more accurately, it is necessary to code-disc 130 and encoder 140 in the running of direct current generator 120
Relative displacement be controlled.Hour is got in the change that the relative position of code-disc 130 and encoder 140 occurs, its essence measured
Degree is higher.
Referring to Fig. 3, encoder 140 is fixed, mainly carried out from three directions, i.e. first direction, second party
To and third direction.First direction is the bearing of trend of the output shaft along direct current generator 120；Second direction is perpendicular to first party
To the diametric(al) in, the i.e. direction perpendicular to the output shaft of direct current generator 120, namely code-disc 130；Third direction is perpendicular to pedestal
110 direction.
Referring to Fig. 4, the specific embodiment party that the present embodiment described further below is fixed to encoder 140 from three directions
Formula.
In the present embodiment, the first installation portion 112 and the second installation portion 114 are provided with pedestal 110.First installation portion
112 are connected with encoder 140, and the second installation portion 114 is connected with circuit board 150.
In the present embodiment, the first installation portion 112 is the first neck, and the second installation portion 114 is the second neck；Encoder
140 and the first neck clamping, the neck clamping of circuit board 150 and second.First installation portion 112 is used for fixed in a first direction compile
Code device 140, the second installation portion 114 is used for regular coding device 140 in a second direction.
In the present embodiment, the first neck is U-shaped, and the U-shaped opening direction of the first neck is relative with code-disc 130.Encoder
140 are fitted on the madial wall of the first neck of U-shaped, and two relative support divisions of the first neck are supported to encoder 140,
With in a first direction (along the direction of the output shaft of direct current generator 120) on regular coding device 140.I.e. the first neck makes encoder 140
It will not be subjected to displacement along the output direction of principal axis of direct current generator 120.
In the present embodiment, encoder 140 is fixedly installed on circuit board 150, and the second neck is also U-shaped.Encoder 140
It is fixedly installed on circuit board 150 primarily to encoder 140 and circuit board 150 are connected into an entirety, and make both
Motion state it is consistent.Certainly, both mounting means can have a variety of, and such as bonding is connected or connected by middleware.The
The opening direction of two draw-in groove is consistent with the output shaft of direct current generator 120, i.e. the opening direction of the second neck and the second neck is opened
Mouth is mutually perpendicular between direction, and opening direction the first neck of direction of the second neck.In the present embodiment, the second card of U-shaped
Groove is connected close to the lateral section of the first neck with the first neck base.It is provided with the first neck base for connection encoder
140 breach (in figure non-label) accommodating with the middleware of circuit board 150, while the breach is also possible to prevent the He of circuit board 150
The connector that encoder 140 is constituted is moved in a first direction.Circuit board 150 is fastened in by the second neck of U-shaped to balance each other
Hold between portion, so that the fixing circuit board 150, Jin Er in second direction (perpendicular to the direction of the output shaft of direct current generator 120)
Regular coding device 140 in second direction.That is the second neck makes encoder 140 export direction of principal axis along perpendicular to direct current generator 120
It will not be subjected to displacement.
In the present embodiment, to make encoder 140 realize fixation on third direction, grating speed-measuring structure 100 also includes
It is installed on the wheel cover 160 on pedestal 110.
In the present embodiment, the mode that wheel cover 160 is installed on pedestal 110 is by self-tapping screw.It is of course not solely limited to
This, in other embodiment of the present utility model, its mounting means can also be other, such as both mutually bondings.
Protuberance 161 is provided with wheel cover 160, it is empty that the part relative with protuberance 161 of pedestal 110 forms a clamping
Between, and encoder 140 is held in grasping part, with the regular coding device 140 on third direction.
To sum up, the neck clamping of encoder 140 and first, realizes regular coding device 140 in a first direction；Encoder
140 are connected with circuit board 150, the neck clamping of circuit board 150 and second, realize regular coding device 140 in a second direction；Wheel
Encoder 140 is held in the grasping part formed between the two by protuberance 161 and the pedestal 110 of cover 160, is realized the
The upward regular coding device 140 of tripartite.
The beneficial effect of grating speed-measuring structure 100 that the present embodiment is provided is：Encoder 140 is installed on pedestal 110, and solid
Due to pedestal 110.When code-disc 130 follows the output shaft rotation of direct current generator 120, encoder 140 and pedestal 110 and direct current
Machine 120 keeps geo-stationary.Encoder 140 remains constant relative to the position relationship of code-disc 130, so that grating tests the speed
It is more accurate.Encoder 140 and circuit board 150 can also be advantageously mounted on pedestal 110 simultaneously, be tested the speed so as to improve grating
The packaging efficiency of structure 100.So as to which one side can ensure the rate accuracy of the direct current generator 120 of microminiature, on the other hand also just
In volume production.
Second embodiment
A kind of code-disc motor (attached not shown) is present embodiments provided, its is simple in construction, easy to assembly, it is adaptable to microminiature
The equipment such as robot.
The code-disc motor that the present embodiment is provided includes the grating speed-measuring structure that direct current generator 120 and first embodiment are provided
100.Direct current generator 120 is installed on pedestal 110, and the fixed cover of code-disc 130 is on the output shaft of direct current generator 120.
The mounting means of direct current generator 120 can be bolt connection or snap connection.In the present embodiment,
Its mounting means is to be fixedly installed in by self-tapping screw on pedestal 110.
3rd embodiment
The present embodiment provides a kind of robot (attached not shown), and its is easy to assembly, and it is accurate to test the speed.
The robot that the present embodiment is provided includes what robot body, moving cell, decelerator and second embodiment were provided
Code-disc motor.Code-disc motor is rotated with decelerator and is connected, and output shaft and the moving cell of decelerator are connected, and drive motion
Unit motion, and then move robot body.
Preferred embodiment of the present utility model is the foregoing is only, the utility model is not limited to, for this
For the technical staff in field, the utility model can have various modifications and variations.It is all it is of the present utility model spirit and principle
Within, any modification, equivalent substitution and improvements made etc. should be included within protection domain of the present utility model.
Claims (10)
1. a kind of grating speed-measuring structure, tests the speed for entering line raster to motor, it is characterised in that the grating speed-measuring structure includes
Pedestal, code-disc, encoder and circuit board, the motor are fixedly installed on the pedestal, and code-disc fixed cover is located at the motor
Output shaft on, the encoder and the circuit board are mounted on the pedestal, the encoder and circuit board electricity
Connection, the encoder cooperates with the code-disc, is tested the speed with entering line raster to the motor.
2. grating speed-measuring structure according to claim 1, it is characterised in that be provided with the pedestal the first installation portion and
Second installation portion, first installation portion is connected with the encoder, and second installation portion is connected with the circuit board.
3. grating speed-measuring structure according to claim 2, it is characterised in that first installation portion is the first neck, institute
Encoder and the first neck clamping are stated, second installation portion is the second neck, the circuit board and second neck
Clamping, first installation portion is used to fix the encoder in a first direction, and second installation portion is used in second party
The encoder is fixed upwards.
4. grating speed-measuring structure according to claim 3, it is characterised in that first neck is U-shaped, first card
The U-shaped opening direction of groove is relative with the code-disc, and the encoder is fitted on the madial wall of first neck, and described first
Two relative support divisions of neck are supported to the encoder, to fix the encoder in said first direction.
5. grating speed-measuring structure according to claim 4, it is characterised in that the encoder is fixedly installed in the circuit
On plate, second neck is U-shaped, and the opening direction of second neck is consistent with the output shaft of the motor, and towards institute
The first neck, the circuit board and the second neck clamping, the encoder and the first neck clamping are stated, with described
The encoder is fixed in second direction.
6. grating speed-measuring structure according to claim 2, it is characterised in that the grating speed-measuring structure also includes wheel cover,
The wheel cover is fixedly installed in the pedestal, and the wheel cover is used to fix the encoder on third direction.
7. grating speed-measuring structure according to claim 6, it is characterised in that the wheel cover is provided with protuberance, the base
The encoder is held between the two by seat and the protuberance, to fix the encoder on the third direction.
8. grating speed-measuring structure according to claim 6, it is characterised in that the wheel cover is fixedly mounted by self-tapping screw
In the pedestal.
9. a kind of code-disc motor, it is characterised in that surveyed including the grating described in any one in direct current generator and claim 1-8
Fast structure, the direct current generator is installed on the pedestal, and the code-disc fixed cover is on the output shaft of the direct current generator.
10. a kind of robot, it is characterised in that including robot body, moving cell, decelerator and as claimed in claim 9
Code-disc motor, the robot body is connected with the moving cell, and the code-disc motor is installed on the robot body
Inside, the code-disc motor is connected with the decelerator, and output shaft and the moving cell of the decelerator are connected, and
The moving cell is driven to move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621448893.7U CN206344177U (en) | 2016-12-27 | 2016-12-27 | Grating speed-measuring structure, code-disc motor and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621448893.7U CN206344177U (en) | 2016-12-27 | 2016-12-27 | Grating speed-measuring structure, code-disc motor and robot |
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| Publication Number | Publication Date |
|---|---|
| CN206344177U true CN206344177U (en) | 2017-07-21 |
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ID=59319140
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621448893.7U Active CN206344177U (en) | 2016-12-27 | 2016-12-27 | Grating speed-measuring structure, code-disc motor and robot |
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| Country | Link |
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| CN (1) | CN206344177U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106493753A (en) * | 2016-12-27 | 2017-03-15 | 上海归墟电子科技有限公司 | Grating speed-measuring structure, code-disc motor and robot |
-
2016
- 2016-12-27 CN CN201621448893.7U patent/CN206344177U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106493753A (en) * | 2016-12-27 | 2017-03-15 | 上海归墟电子科技有限公司 | Grating speed-measuring structure, code-disc motor and robot |
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