CN206627126U - Encoder - Google Patents
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- CN206627126U CN206627126U CN201720310405.4U CN201720310405U CN206627126U CN 206627126 U CN206627126 U CN 206627126U CN 201720310405 U CN201720310405 U CN 201720310405U CN 206627126 U CN206627126 U CN 206627126U
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- encoder
- main shaft
- pinion
- magnetic element
- drive mechanism
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Abstract
A kind of encoder, including main body, main shaft, drive mechanism, magnetic element and sensing element.Main shaft is arranged in main body.Drive mechanism is connected to main shaft.Magnetic element is connected to drive mechanism, and produces magnetic field.Sensing element corresponds to magnetic element, and senses magnetic field.Drive mechanism is driven by main shaft, and causes drive mechanism spin magnetization element.In summary, encoder of the present utility model utilizes the magnetic signal for the magnetic element for sensing different rotating speeds, to record the rotating cycle of main shaft and the circle internal rotation angle, therefore the parameter of motor operations need not be additionally preserved using battery, and can be not required to limit the rotating speed for the motor that encoder is connected once again after encoder operating interruptions when operating, and then reduce the Production Time of product.
Description
Technical field
The utility model relates generally to a kind of encoder, and more particularly to one kind is without battery type encoder.
Background technology
When carrying out the operation such as computer numerical control (CNC) toolroom machine and mechanical arm, it is necessary to accurately control and examine
Survey motor rotating shaft rotating cycle and it is described circle internal rotation angle come implement precision control.
In general, the rotating cycle of the rotating shaft of motor and the circle internal rotation angle can be detected using encoder.
When toolroom machine is when machine or shutdown, the parameters such as the rotating cycle of the rotating shaft of motor are stored in memory body by encoder by electric power
It is interior.Until toolroom machine starts or resumed work, the control computer of toolroom machine reads the data in encoder memory body again.
However, the number of turns memory of this kind of encoder must rely on the electric power that for example battery provides, when dead battery or damage
When, control computer will be unable to obtain correct data, therefore can not correctly continue to make product.In addition, encoder opens again
When dynamic, also need to limit the rotating speed of motor, begin to know whether axle center of motor is rotated.
Therefore, current electronic type encoder not yet meets the requirement of many other aspects, it is desirable to provide improved plan.
Utility model content
The utility model provides a kind of encoder, it is not necessary to the running parameter of motor is preserved using battery, and when volume
The rotating speed of motor can be not required to limit once again after code device operating interruptions when operating.
The utility model provides a kind of encoder, including a main body, a main shaft, a drive mechanism, one first magnetic
Element, one second magnetic element, one first sensing element and one second sensing element.Main shaft is arranged in main body.Driving
Mechanism is connected to main shaft.First magnetic element is connected to drive mechanism, and produces the first magnetic field.Second magnetic element is connected to
Drive mechanism, and produce the second magnetic field.First sensing element corresponds to the first magnetic element, and to sense the first magnetic field with driving
Motivation structure correspondence position relation.Second sensing element corresponds to the second magnetic element, and to sense the second magnetic field and driving machine
Structure correspondence position relation.Wherein drive mechanism is driven by main shaft so that drive mechanism rotates the first magnetic element and the
Two magnetic elements.Wherein the first magnetic element rotates relative to the first sensing element, and the second magnetic element is relative to the second sensing
Element rotates.
In some embodiments, drive mechanism includes a master gear, one first pinion and one first auxiliary spindle.It is main
Gear is arranged on main shaft, the first pinion, is engaged with master gear.First auxiliary spindle is arranged at the center of the first pinion.
First magnetic element is arranged at the first auxiliary spindle.Master gear, the first pinion, one first pair is driven to turn when main shaft rotates
Axle and the rotation of the first magnetic element.
In some embodiments, encoder also includes multiple first supplementary bearings, is located on the first auxiliary spindle respectively.
In some embodiments, drive mechanism also includes one second pinion and one second auxiliary spindle.Second pinion
Engaged with master gear.Second auxiliary spindle is arranged at the center of the second pinion.Second magnetic element is arranged at the second auxiliary spindle.When
Main shaft drives the second pinion, the second auxiliary spindle and the rotation of the second magnetic element when rotating.The diameter of second pinion is big
In the diameter of the first pinion.
In some embodiments, encoder also includes multiple second supplementary bearings, is located on the second auxiliary spindle respectively.
In some embodiments, the first auxiliary spindle and the second auxiliary spindle are parallel to main shaft.
In some embodiments, encoder also includes a spacing ring, positioned at the first pinion, the second pinion, Yi Jizhu
Between body.
In some embodiments, wherein spacing ring is fixed on main body via lock member.
In some embodiments, wherein spacing ring is made up of metallic plate.
In some embodiments, encoder also includes multiple base bearings, is located on main shaft respectively.
In some embodiments, main shaft includes a connecting hole, to connect a drive shaft.
In some embodiments, encoder also includes a coding disk, a light source and a fluorescence detector.Coding disk is set
It is placed in main shaft.Light source is arranged at main body to launch a light beam to coding disk.Fluorescence detector is detecting light beam.
In some embodiments, encoder also includes a circuit board, and wherein coding disk is between main body and circuit board.
In some embodiments, encoder also includes a fastener, is arranged at the side wall of main body, and fastener is fastened on circuit board
Bottom surface.
In some embodiments, the main core of main shaft is taper axle construction.
In some embodiments, encoder also includes a loading plate, is arranged at main body, wherein the first sensing element and
Two sensing elements are arranged on loading plate.
In summary, encoder of the present utility model utilizes the magnetic signal for the magnetic element for sensing different rotating speeds, to remember
The rotating cycle of main shaft and the circle internal rotation angle are recorded, therefore additionally need not preserve motor operations using battery
Parameter, and can be not required to when operating to limit the rotating speed for the motor that encoder is connected once again after encoder operating interruptions, and then subtract
The Production Time of few product.
Brief description of the drawings
Fig. 1 is the stereogram of encoder of the present utility model.
Fig. 2A and Fig. 2 B are the stereogram of encoder of the present utility model.
Fig. 3 is the sectional view of encoder of the present utility model.
Wherein, description of reference numerals is as follows：
Encoder 1
Main body 10
Spindle hole 11
Countershaft hole 12
Main shaft 20
Connecting hole 21
Buckling groove 22
Base bearing 30
Drive mechanism 40
Master gear 41
Binding block 411
Pinion (the first pinion, the second pinion) 42,42a, 42b, 42c, 42d
Auxiliary spindle (the first auxiliary spindle, the second auxiliary spindle) 43
Supplementary bearing (the first supplementary bearing, the second supplementary bearing) 44
Magnetic element (the first magnetic element, the second magnetic element) 50,50a, 50b, 50c, 50d
Loading plate 60
Sensing element 70
Fastener 80
Spacing ring 90
Motor A1
Drive shaft A11
Main core AX1
Countershaft heart AX2
Coding disk B10
Light source B20
Circuit board B30
Fluorescence detector B40
Bearing of trend D1
Lock member T1, T2, T3, T4
Embodiment
The following description provides many different embodiments or example, of the present utility model different special for implementing
Sign.Element and arrangement mode described by following specific examples, only it is used for the expression the utility model simplified, it is only used as example
Son, and and be not used to limit the utility model.For example, the description of structure of the fisrt feature above a second feature includes
Directly contacted between first and second features, or between being arranged at the first and second features with another feature, so that
One and second feature be not directly to contact.
In the spatially related vocabulary that this is used, such as above or below etc., only to one on simple description accompanying drawing
Element or a feature are relative to another element or the relation of feature.In addition to the orientation described on accompanying drawing, it is included in different sides
Position uses or the device of operation.
Shape, size, thickness and inclined angle in accompanying drawing perhaps to clarity of illustration and not according to than
Example is drawn or is simplified, and only provides purposes of discussion.
Fig. 1 is the stereogram of encoder 1 of the present utility model.Fig. 2A and Fig. 2 B are encoder 1 of the present utility model
Stereogram.Fig. 3 is the sectional view of encoder 1 of the present utility model.Encoder 1 is used to connect a motor A1 (being drawn on Fig. 3)
To record motor A1 drive shaft A11 rotating cycle and the circle internal rotation angle.Encoder 1 includes a main body 10, one
Main shaft (main shaft) 20, multiple base bearings 30, a drive mechanism 40, multiple magnetic elements 50, a loading plate 60 and
Multiple sensing elements 70.
Main body 10 can be as made by metal material.Main body 10 may include a spindle hole 11 and multiple countershaft holes 12.One master
Axle center (main axis) AX1 passes through the center of spindle hole 11.In some embodiments, main core AX1 may pass through in main body 10
The heart.In other words, spindle hole 11 extends along main core AX1, and can be located at the center of main body 10.In the present embodiment, multiple pairs
Axis hole 12 is around main core AX1 arrangements.Countershaft hole 12 extends along the bearing of trend D1 parallel to spindle hole 11.
Main shaft 20 is arranged in the spindle hole 11 of main body 10.Main shaft 20 can extend along main core AX1, and main core
AX1 can be located at the center of main shaft 20.Main shaft 20 may include a connecting hole 21 and a buckling groove 22.Connecting hole 21 can be along master
Axle center AX1 extends, and can be through main shaft 20.In some embodiments, the main core AX1 of main shaft 20 can be taper shaft knot
Structure, as shown in figure 3, the main core AX1 and motor A1 of main shaft 20 drive shaft A11 in the place of engaging each other be respectively provided with gradient with
Close, this setting can make encoder 1 itself have more slimming design, beneficial to miniaturization of components designer trends.
Connecting hole 21 is connecting motor A1 drive shaft A11.In other words, motor A1 drive shaft A11 can be inserted in
Connecting hole 21 is so that encoder 1 is connected with motor A1.When motor A1 drives, drive shaft A11 drives main shaft 20 to rotate.Such as figure
Shown in 3, motor A1 drive shaft A11 can be locked in main shaft 20 via a lock member T1.Buckling groove 22 is located at main shaft 20
Side wall, and be connected to connecting hole 21.The shape of buckling groove 22 has locating effect, can aid in Fast Installation drive shaft A11.In some
In embodiment, connecting hole can connect from the driver of different motors, i.e. encoder and the equal detachable of motor.
Base bearing 30 is located in spindle hole 11, and is connected to main body 10 and main shaft 20.Base bearing 30 is along bearing of trend
D1 is arranged, and is located on main shaft 20.In the present embodiment, there are two base bearings 30., can also be by some embodiments
More rings of base bearing 30 are set to improve the stability of main shaft 20.
Drive mechanism 40 is connected to main shaft 20, to drive magnetic element 50 to rotate.In the present embodiment, multiple magnetic
Element 50 is connected to drive mechanism 40, and produces magnetic field respectively.In the present embodiment, magnetic element 50 can be permanent magnetic
Iron.
Loading plate 60 is arranged in main body 10.Loading plate 60 can be around a ring-type or c-type structure or central openings
The not structure of given shape.In the present embodiment, loading plate 60 is c-type structure, around main shaft 20, and can be perpendicular to extension side
To D1.Loading plate 60 can be fixed on the bottom of body 10 via lock member T2.
Sensing element 70 is fixed on loading plate 60, and is corresponded respectively to magnetic element 50 and configured.Sensing element 70 to
Sense changes of magnetic field caused by its corresponding magnetic element 50.In the present embodiment, sensing element 70 is sensing the side in magnetic field
Position or phase place change.
In the present embodiment, when motor A1 drives, drive shaft A11 drives main shaft 20 to rotate.Now, led by rotation
Rotating shaft 20 drives drive mechanism 40, and causes the spin magnetization element 50 of drive mechanism 40.When magnetic element 50 rotates, magnetic
Element 50 can rotate relative to sensing element 70.The side in magnetic field caused by each magnetic element 50 is sensed by sensing element 70
Position or phase place change, main shaft 20 and drive shaft A11 rotating cycles and the circle internal rotation angle can be calculated.Yu Benshi
Apply in example, main shaft 20 is by the fixed engagement drive shaft A11 of connecting hole 21, therefore both rotating cycle and described circle internal rotation angles
It is consistent on topology degree, i.e. drive shaft A11 rotating cycles and the circle internal rotation angle can be obtained with aforementioned mechanism.
In the present embodiment, drive mechanism 40 also include a master gear 41, multiple pinions 42 (illustrated in figure four and with
Label 42a, 42b, 42c, 42d are distinguished), multiple auxiliary spindles 43 and multiple supplementary bearings 44.Master gear 41 is arranged at main shaft 20
On.Master gear 41 can be rotated centered on main core AX1.In the present embodiment, master gear 41 can be a cyclic structure, be located on
Main shaft 20.Master gear 41 may include a binding block 411, be sticked in the buckling groove 22 of main shaft 20.By above-mentioned binding block
411, it may be such that master gear 41 can be quickly installed or be fixed on main shaft 20.
Pinion 42 engages with master gear 41 respectively.Pinion 42 surround and is arranged in the periphery of master gear 41, and pinion 42
It is separated from each other setting.Pinion 42 is rotated centered on respective countershaft heart AX2.Above-mentioned countershaft heart AX2 can be parallel to master
Axle center AX1.In the present embodiment, the direction of rotation of the direction of rotation of pinion 42 in contrast to master gear 41.The number of pinion 42
Mesh can be two or more.For example, the number of pinion 42 can be 3,4,5 or 6, or more.In the present embodiment
In, there are four pinions 42a, 42b, 42c, 42d.It should be noted that the setting number of pinion and body volume, demand
The correlations such as precision, cost of manufacture, can moderately it be adjusted according to product demand during making.
Auxiliary spindle 43 is arranged at the center of pinion 42, and can be located in countershaft hole 12.In the present embodiment, auxiliary spindle 43
The center of pinion 42 is fixed on, and can surround and be arranged in main shaft 20.Auxiliary spindle 43 can extend along countershaft heart AX2, and countershaft
Heart AX2 can be located at the center of auxiliary spindle 43.Auxiliary spindle 43 can be rotated centered on countershaft heart AX2.Magnetic element 50 is fixed on pair
The one end for the auxiliary spindle 43 answered.In other words, when pinion 42 drives auxiliary spindle 43 to rotate, magnetic element 50 is i.e. with the countershaft heart
Rotated centered on AX2.
Supplementary bearing 44 is located in countershaft hole 12, and is connected to main body 10 and auxiliary spindle 43.Supplementary bearing 44 is in bearing of trend
Arranged on D1, and be located on auxiliary spindle 43.In the present embodiment, each auxiliary spindle 43 sets two supplementary bearings 44, so as to improving
The stability of auxiliary spindle 43.
In some embodiments, the material of master gear 41 and pinion 42 can also be relatively light except conventional metal
Plastic cement, so as to reducing caused noise when master gear 41 and pinion 42 rotate.
In some embodiments, the number of teeth or diameter of master gear 41 can be more than the number of teeth or diameter of pinion 42.It is and each
The 42 mutual number of teeth of pinion or diameter simultaneously differ.In the present embodiment, pinion the 42a number of teeth or diameter are less than pinion
The 42b number of teeth or diameter, pinion the 42b number of teeth or diameter are less than pinion the 42c number of teeth or diameter, pinion 42c tooth
Number or diameter are less than the pinion 42d number of teeth or diameter, and pinion the 42d number of teeth or diameter are less than the number of teeth or straight of master gear 41
Footpath.
Master gear 41, pinion 42 and magnetic element 50 is directly or indirectly driven to rotate when main shaft 20 rotates.Before
Stating pinion 42, the number of teeth or diameter differ each other, therefore when master gear 41 rotates, drive indivedual pinions 42 and its
The rotary speed of corresponding magnetic element 50 differs.
In the present embodiment, pinion 42a rotary speed is more than pinion 42b rotary speed, pinion 42b rotation
Rotary speed is more than pinion 42c rotary speed, and pinion 42c rotary speed is more than pinion 42d rotary speed.Together
Reason, magnetic element 50a rotary speed are more than magnetic element 50b rotary speed, and magnetic element 50b rotary speed is more than magnetic
Property element 50c rotary speed, magnetic element 50c rotary speed is more than magnetic element 50d rotary speed.
Therefore, configured by the pinion 42 of the different numbers of teeth or diameter, main shaft 20 can be caused in one pre- fixing turn of rotation
(such as 100,000 turns) it is interior, for the anglec of rotation different in each different rotary number of turns of main shaft 20 and the circle, sensing
Element 70 can record the combination of different magnetic field orientation, can be used to encode.For example, when main shaft 20 is rotated to N circles and 10
When spending, the magnetic field orientation for all magnetic elements 50 that all sensing elements 70 are recorded will differ from main shaft 20, such as rotate extremely
N encloses magnetic direction when 20 degree or N+1 circles not only but also 10 degree.It should be noted that above-mentioned N+1 circles are citing, and need small
In pre- fixing turn.
In other words, the magnetic field orientation for all magnetic elements 50 that can be sensed according to all sensing elements 70, to calculate
The rotating cycle rotated for main shaft 20 in the estimated number of turns and the circle internal rotation angle.Further, since the present embodiment
Encoder 1 and do not need electric power come maintain remember magnetic element 50 orientation, therefore even if when toolroom machine when machine or shutdown make
During into operating interruptions, it can't influence to differentiate when machine or shutdown are right according to the orientation of indivedual magnetic elements 50 at that time and its institute at that time
The number of turns that the main shaft 20 answered is rotated.And when power is restored, it can work under motor A1 rotating speed in not limiting, may be used also
Obtain the data of the number of turns that main shaft 20 is rotated before having a power failure.Furthermore the encoder 1 of the present embodiment uses setting without battery type
Meter, can reduce volume, and can reduce spoilage.
In the present embodiment, encoder 1 can also include a coding disk B10, a light source B20, circuit board B30, a Yi Jiyi
Fluorescence detector B40.Coding disk B10 is fixed on main shaft 20, and is adjacent to the bottom of main body 10.Coding disk B10 turns via main
The driving rotation of axle 20.Light source B20 is securable to the side wall of main body 10, to launch a light beam to coding disk B10.In the present embodiment
In, coding disk B10 can have different coding patterns, and wherein at least a part of pattern is that light may pass through or reflect.In this implementation
In example, above-mentioned light beam is detected through coding disk B10 to fluorescence detector B40.
Circuit board B30 can be fixed on the bottom of main body 10 via lock member T3.Coding disk B10 can be located at main body 10 and
Between circuit board B30.Fluorescence detector B40 is arranged on circuit board B30 to detect light beam.
In the present embodiment, the relative position between light beam and fluorescence detector B40 is constant.When main shaft 20 rotates,
Coding disk B10 rotates relative to light beam and fluorescence detector B40.Because the coding disk B10 anglec of rotation corresponds to main shaft
20 anglec of rotation, therefore the different positions that light beam is exposed on coding disk B10 when main shaft 20 rotates.Fluorescence detector
B40 can calculate the anglec of rotation of main shaft 20 according to the continuous signal combination that the light beam by coding disk B10 passes through or does not pass through
Degree.The more accurate anglec of rotation in each rotating cycle of main shaft 20 can be calculated by above-mentioned coding disk B10.
In the present embodiment, encoder 1 can also include a fastener 80, be arranged at the side wall of main body 10, and fastener 80 is fastened on
Circuit board B30 bottom surface, so as to circuit board B30 is more securely arranged in main body 10.
In the present embodiment, encoder 1 can also include a spacing ring 90, via lock member T4 stationary bodies 10.It is spacing
Ring 90 is between pinion 42 and main body 10, to limit the position of pinion 42.Above-mentioned spacing ring 90 can be by a metal
Made by plate, therefore it is alternatively arranged as multiplying buffer structure when carrying pinion 42, reduces multiple rotary speeies of pinion 42 and differ and cause
Vibrations and improve stability.
In summary, encoder of the present utility model utilizes the magnetic signal for the magnetic element for sensing different rotating speeds, to remember
The rotating cycle of main shaft is recorded, therefore the parameter of motor operations need not be additionally preserved using battery, and when encoder works
The rotating speed for the motor that encoder is connected can be not required to limit once again after interruption when operating, so that it may know whether axle center of motor is turned
It is dynamic.
Though the utility model is disclosed as above with various embodiments, but it is only exemplary reference and is not used to limit this practicality
New scope, those skilled in the art are not being departed from spirit and scope of the present utility model, when can do a little change with
Retouching.Therefore above-described embodiment is not limited to the scope of the utility model, and the scope of protection of the utility model is attached after regarding
Being defined of being defined of claims.
Claims (16)
- A kind of 1. encoder, it is characterised in that including：One main body；One main shaft, it is arranged in the main body；One drive mechanism, it is connected to the main shaft；One first magnetic element, the drive mechanism is connected to, and produces the first magnetic field；One second magnetic element, the drive mechanism is connected to, and produces the second magnetic field；One first sensing element, corresponding to first magnetic element, and to sense first magnetic field and the driving machine The correspondence position relation of structure；AndOne second sensing element, corresponding to second magnetic element, and to sense second magnetic field and the driving machine The correspondence position relation of structure；Wherein drive the drive mechanism by the main shaft so that the drive mechanism rotate first magnetic element with And second magnetic element,Wherein described first magnetic element rotates relative to first sensing element, and second magnetic element is relative to described Second sensing element rotates.
- 2. encoder as claimed in claim 1, it is characterised in that the drive mechanism includes：One master gear, it is arranged on the main shaft；One first pinion, is engaged with the master gear；AndOne first auxiliary spindle, it is arranged at the center of first pinion；Wherein described first magnetic element is arranged at first auxiliary spindle, and the main tooth is driven when the main shaft rotates Wheel, first pinion, first auxiliary spindle and first magnetic element rotation.
- 3. encoder as claimed in claim 2, it is characterised in that also include：Multiple first supplementary bearings, first auxiliary spindle is located on respectively.
- 4. encoder as claimed in claim 3, it is characterised in that the drive mechanism also includes：One second pinion, is engaged with the master gear；AndOne second auxiliary spindle, it is arranged at the center of second pinion；Wherein described second magnetic element is arranged at second auxiliary spindle, and second pair is driven when the main shaft rotates Gear, second auxiliary spindle and second magnetic element rotation,The diameter of wherein described second pinion is more than the diameter of first pinion.
- 5. encoder as claimed in claim 4, it is characterised in that also include：Multiple second supplementary bearings, second auxiliary spindle is located on respectively.
- 6. encoder as claimed in claim 4, it is characterised in that first auxiliary spindle and second auxiliary spindle are parallel In the main shaft.
- 7. encoder as claimed in claim 4, it is characterised in that also including a spacing ring, positioned at first pinion, institute State between the second pinion and the main body.
- 8. encoder as claimed in claim 7, it is characterised in that the spacing ring is fixed on the master via lock member Body.
- 9. encoder as claimed in claim 7, it is characterised in that the spacing ring is made up of metallic plate.
- 10. encoder as claimed in claim 1, it is characterised in that also include：Multiple base bearings, the main shaft is located on respectively.
- 11. encoder as claimed in claim 1, it is characterised in that the main shaft includes a connecting hole, to connect a drive Moving axis.
- 12. encoder as claimed in claim 1, it is characterised in that also include：One coding disk, it is arranged at the main shaft；One light source, the main body is arranged at, to launch a light beam to the coding disk；AndOne fluorescence detector, to detect the light beam.
- 13. encoder as claimed in claim 12, it is characterised in that also including a circuit board, wherein the coding disk is located at Between the main body and the circuit board.
- 14. encoder as claimed in claim 13, it is characterised in that also including a fastener, the side wall of the main body is arranged at, The fastener is fastened on the bottom surface of the circuit board.
- 15. encoder as claimed in claim 1, it is characterised in that the main core of the main shaft is taper axle construction.
- 16. encoder as claimed in claim 1, it is characterised in that also include：One loading plate, the main body is arranged at,Wherein described first sensing element and second sensing element are arranged on the loading plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720310405.4U CN206627126U (en) | 2017-03-28 | 2017-03-28 | Encoder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720310405.4U CN206627126U (en) | 2017-03-28 | 2017-03-28 | Encoder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206627126U true CN206627126U (en) | 2017-11-10 |
Family
ID=60208761
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720310405.4U Active CN206627126U (en) | 2017-03-28 | 2017-03-28 | Encoder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206627126U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111795709A (en) * | 2019-04-08 | 2020-10-20 | 精工爱普生株式会社 | Encoder, motor and robot |
-
2017
- 2017-03-28 CN CN201720310405.4U patent/CN206627126U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111795709A (en) * | 2019-04-08 | 2020-10-20 | 精工爱普生株式会社 | Encoder, motor and robot |
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