CN208714006U - The servo joint of dicode disk encoder and application the dicode disk encoder - Google Patents
The servo joint of dicode disk encoder and application the dicode disk encoder Download PDFInfo
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- CN208714006U CN208714006U CN201821303734.7U CN201821303734U CN208714006U CN 208714006 U CN208714006 U CN 208714006U CN 201821303734 U CN201821303734 U CN 201821303734U CN 208714006 U CN208714006 U CN 208714006U
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Abstract
The utility model relates to encoder techniques fields, specifically related to the servo joint of a kind of dicode disk encoder and application the dicode disk encoder, wherein dicode disk encoder includes the first code-disc for measuring speed reducer corner, for measuring the second code-disc of motor corner, and the first reading head and the second reading head for reading, for fixing the circuit board of the first reading head and the second reading head, wherein first code-disc it is coaxial with second code-disc and same plane it is nested setting.The first code-disc and the second code-disc by that will measure speed reducer and motor corner compared with the prior art two encoders setting up and down, reduce the volume in servo joint, improve joint carrying load ability coaxially and in the setting of same plane nesting.Servo joint structure using the dicode disk encoder is compact, production cost decline, and volume and weight decline, convenient to be applied in robot.
Description
Technical field
The utility model relates to encoder techniques fields, and in particular to a kind of dicode disk encoder and apply the dicode disk
The servo joint of encoder.
Background technique
With the fast development of industrial automation technology, robot is more next as a kind of important industrial automation equipment
More paid attention to, and application is more and more extensive.Control in the related technology of robot, to moving components such as joint of robot
It is mostly important and crucial.
In servo deceleration machine, the moving components such as joint of robot can provide power by motor, and pass through encoder
The athletic posture of the moving components such as motor and joint to robot measures, and then realizes and move to joint of robot etc.
The full closed loop control of component.
In the prior art, it is divided on two encoders in servo deceleration machine as used such as patent 201620077231.7
It sets, measures the corner of motor and speed reducer respectively, such set-up mode will lead to that entire joint number of parts is more, and production cost increases
Height, and cause arthritic volume and weight big, reduce joint carrying load ability.
Utility model content
The technical problem to be solved by the present invention is in view of the above drawbacks of the prior art, provide a kind of dicode disk
Encoder solves servo joint in the prior art and needs that two encoders, the numerous defect of part are respectively set up and down.
The technical scheme adopted by the utility model to solve the technical problem is as follows: a kind of dicode disk encoder, including be used for
The first code-disc for measuring speed reducer corner, for measuring the second code-disc of motor corner, and the first reading head for reading
And second reading head, for fixing the circuit board of the first reading head and the second reading head, wherein first code-disc and described the
Two code-discs are coaxial and are arranged in same plane nesting.
The still more preferably scheme of the utility model is: first reading head and the second reading head are set to same electricity
On the plate of road.
The still more preferably scheme of the utility model is: first reading head is arranged there are two the first reading chip,
Two first reading chips are centrosymmetric setting about the axle center of the first code-disc.
The still more preferably scheme of the utility model is: second reading head is arranged there are two the second reading chip,
Two second reading chips are centrosymmetric setting about the axle center of the second code-disc.
The still more preferably scheme of the utility model is: the dicode disk encoder uses magnetic-type absolute type encoder,
Double track is provided on first code-disc, the second code-disc.
Big for existing arthritic volume, big using two encoder volumes and weight, load capacity is poor, and high production cost lacks
It falls into, the utility model additionally provides a kind of servo joint, including shell, reduction part and motor section, further includes that above scheme is any
The dicode disk encoder, the circuit board are fixed on the shell by pedestal, the speed reducer, motor section and dicode
The coaxial arrangement of disk encoder.
In servo joint provided by the utility model, preferred embodiment are as follows: the pedestal is set with the circuit board corresponding position
It is equipped with pin hole.
In servo joint provided by the utility model, preferred embodiment are as follows: the reduction part include output end cap, speed reducer and
Output shaft, the output shaft and the first code-disc are sequentially connected.
In servo joint provided by the utility model, still more preferably scheme are as follows: the servo joint further includes braking
Retainer, the braking retainer are set to the dicode disk encoder close to motor section side.
In dicode disk encoder provided by the utility model, by the first code-disc that will measure speed reducer and motor corner
And second code-disc it is coaxial and be arranged in same plane nesting, compared with the prior art two encoders setting up and down, reduce and correspond to
The volume in servo joint, reduces number of parts, improves joint carrying load ability.In addition, the utility model also applies two
Chip is symmetrically read with the eccentric axial of code-disc and reads code-disc rotational angle mode, with this blanking code disk center axis and corresponding quilt
Measurement error caused by the coaxiality error of part rotary middle spindle is surveyed, the accuracy of reading of encoder is improved.Meanwhile this is practical new
Type also provides the servo joint using the dicode disk encoder, this servo joint structure is compact, convenient to be applied in robot.
Detailed description of the invention
Below in conjunction with accompanying drawings and embodiments, the utility model is described in further detail, in attached drawing:
Fig. 1 is the utility model dicode disk coder structure schematic diagram；
Fig. 2 is the utility model dicode disk Encoder Optimization structural schematic diagram；
Fig. 3 is the utility model reading head optimization structural schematic diagram；
Fig. 4 is the utility model servo joint decapsidate structural schematic diagram；
Fig. 5 is the utility model servo joint cross-sectional view.
In figure: encoder 1, the first code-disc 10, the second code-disc 11, the first reading chip 10a, second reads chip 11a, electricity
Road plate 12, pedestal 13, pin hole 14；Shell 2；Motor section 3, stator module 31, rotor 32；Reduction part 4, speed reducer 41, output
End cap 42, output shaft 43；Connecting flange 5, retainer 6 brake retainer 7, motor driver 8.
Specific embodiment
Now in conjunction with attached drawing, elaborate to the preferred embodiment of the utility model.
As shown in Figs. 1-5, the utility model provides a kind of dicode disk encoder 1, including for measuring speed reducer corner
First code-disc 10, for measuring the second code-disc 11 of motor corner, and for the first reading head and the second reading head of reading,
For fixing the circuit board 12 of the first reading head and the second reading head, wherein first code-disc 10 and second code-disc 11
Coaxially and in same plane nesting it is arranged.Using the first code-disc 10 with the second code-disc 11 coaxial and same level nested mode, with
The prior art two encoders setting up and down are compared, and number of parts can be reduced, and reduce corresponding servo arthritic volume.
Specifically, first code-disc 10 is used to measure the speed reducer corner in servo joint, second code-disc 11 is used
Motor corner in measurement servo joint, the internal diameter of second code-disc 11 are greater than the outer diameter of the first code-disc 10, the first code-disc
In the 10 nested hollow shafts for being set to the second code-disc 11, the two is located at same level.In the present embodiment, first reading head
It is set on same circuit board 12 with second reading head.Production cost can be reduced using one piece of circuit board 12, while making to tie
Structure is more compact.Various boards are individually fixed in compared to by the first reading head and the second reading head, need that inside will be located at
First reading head circuit board, which is fixed on servo motor, will increase assembly difficulty, and difference can also be used in other embodiments certainly
Fixed form.
In conjunction with Fig. 2, Fig. 3, to advanced optimize above scheme, increase the measurement accuracy of dicode disk encoder 1, uses the
There are two the first axle center of the reading chip 10a, described two first reading chip 10a about the first code-disc 10 for the setting of one reading head
Be centrosymmetric setting, in the rotation of the first code-disc 10, the error in reading amplitude of the first reading chip 10a of two central distributions
Equal, contrary, error can cancel out each other after addition, two to synchronization of the digital signal processor of the first reading head
First reading chip 10a information is acquired and carries out summation operation, and processing result is then converted to encoder angular position
Information accurately reflects the corresponding speed reducer corner of the first code-disc 10, improves the measurement accuracy to speed reducer corner.Further
, used second reading head be also provided with there are two second reading chip 11a, two of them second read chip 11a about
The axle center of second code-disc 11 is centrosymmetric setting.Similarly, when the second code-disc 11 rotates, the second reading of two central distributions
The error in reading amplitude of chip 11a is equal, contrary, and error can cancel out each other after addition, the digital signal of the second reading head
Processor is acquired two second reading chip 11a information of synchronization and carries out summation operation, then ties processing
Fruit is converted to encoder angle position information, accurately reflects the corresponding motor corner of the second code-disc 11, guarantees to read motor corner
Several accuracy.Compared with singly reading chip, using centrosymmetric two readings chip, can blanking code disk center axis with it is corresponding
Measurement error caused by the coaxiality error of measured piece rotary middle spindle improves the accuracy of reading of encoder, reduces code-disc peace
The concentricity requirement of dress.
For the dicode disk encoder 1 for optimizing the utility model, the utility model uses magnetic-type absolute type encoder, compared to increasing
Amount formula encoder, can directly acquire the absolute position in joint.Compared to optical-electricity encoder, it is resistant to greasy dirt, dust pollution, and is had
Higher reliability.Meanwhile first is provided with double track on code-disc 10 and the second code-disc 11.Wherein, code-disc outer ring magnetic track is set
2n is equipped with to magnetic pole, 2n-1 is arranged to magnetic pole in inner ring magnetic track, and the pole N and the pole S are alternatively formed on magnetic track.Using double track format,
Such as n=6, outer ring magnetic track is divided equally into 64 pairs of pole pairs, and inner ring is 63 pairs of pole pairs, inner ring magnetic track and outer ring magnetic track starting point
It is identical, when measuring corner, its angular position is accurately obtained by reading the information on two tracks, improves accuracy, this reality
Smaller by 1 than the magnetic track n ' of the second code-disc 11 with the magnetic track n of novel first code-disc 10, such as 11 outer ring magnetic track of the second code-disc is 64 pairs of magnetic poles
Clock synchronization, 10 outer ring magnetic track of the first code-disc are generally 32 pairs of pole pairs, because magnetic track pole pair is by corresponding code-disc size and encoder essence
The influence of degree, does not do strict regulations herein.
In conjunction with Fig. 4, Fig. 5, as shown, the utility model additionally provides a kind of servo joint, including shell 2, motor section 3
And reduction part 4, it further include dicode disk encoder 1 described in above-described embodiment, wherein circuit board 12 is fixed on institute by pedestal 13
It states on shell 2, the reduction part 4, motor section 3 and dicode disk encoder 1 are coaxially disposed, and the dicode disk encoder 1 is set to
The motor section 3 is far from 4 side of reduction part.Using above-mentioned dicode disk encoder 1, servo joint structure is compact, volume and again
Amount reduces, and part is reduced, and production cost decline will preferably be applied in robot.
Further, it as shown in Figure 1, corresponding position offers pin hole 14 on pedestal 13 and circuit board 12, is assembling
Shi Xianyong pin tentatively fix to the two, and locking then is fixed to the two with screw again, tentatively fixed using pin
It can effectively improve the assembly precision of circuit board 12, and then reduce error.Used pin can be one or more,
This is without limitation.
Specifically, motor section 3 is connect by connecting flange 5 with reduction part 4, the reduction part 4 includes speed reducer 41, output
Axis 43 and output end cap 42, wherein the output shaft 43 and the first code-disc 10 are sequentially connected, the movement of speed reducer 41 passes through output
Axis 43 is transferred on the first code-disc 10, measure the corner of speed reducer 41 with this.The motor section 3 includes stator pack
Part 31 and rotor 32 and motor driver 8, the servo joint further include being set between the motor section 3 and the second code-disc 11
Retainer 6, described 6 one end of retainer connects rotor 32, and the other end connect with the second code-disc 11, passes through the effect general of retainer 6
The movement of rotor 32 is transferred to the second code-disc 11, is measured with this to the corner of motor.Further, the utility model institute
The servo joint of use further includes braking retainer 7, and the braking retainer 7 is set to the dicode disk encoder 1 close to electricity
3 side of machine portion can provide braking in power-off or emergency, prevent robot power down from falling or out of control.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered as the range of this specification record.
Claims (9)
1. a kind of dicode disk encoder, it is characterised in that: including the first code-disc for measuring speed reducer corner, for measuring electricity
Second code-disc of machine corner, and for the first reading head and the second reading head of reading, for fixing the first reading head and
The circuit board of two reading heads, wherein first code-disc it is coaxial with second code-disc and same plane it is nested setting.
2. dicode disk encoder according to claim 1, it is characterised in that: first reading head and the second reading head are set
It is placed on same circuit board.
3. dicode disk encoder according to claim 2, it is characterised in that: there are two first for the first reading head setting
Chip is read, two first reading chips are centrosymmetric setting about the axle center of the first code-disc.
4. dicode disk encoder according to claim 3, it is characterised in that: there are two second for the second reading head setting
Chip is read, two second reading chips are centrosymmetric setting about the axle center of the second code-disc.
5. dicode disk encoder according to claim 4, it is characterised in that: the dicode disk encoder is absolute using magnetic-type
Formula encoder is provided with double track on first code-disc, the second code-disc.
6. a kind of servo joint, including shell, reduction part and motor section, it is characterised in that: further include that the claims 1-5 appoints
Dicode disk encoder described in one, the circuit board are fixed on the shell by pedestal, the reduction part, motor section and double
The coaxial arrangement of code-disc encoder.
7. servo joint according to claim 6, it is characterised in that: the pedestal and the circuit board corresponding position are arranged
There is pin hole.
8. servo joint according to claim 7, it is characterised in that: the reduction part include output end cap, speed reducer and
Output shaft, the output shaft and the first code-disc are sequentially connected.
9. servo joint according to claim 8, it is characterised in that: the servo joint further includes braking retainer, institute
It states braking retainer and is set to the dicode disk encoder close to motor section side.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821303734.7U CN208714006U (en) | 2018-08-14 | 2018-08-14 | The servo joint of dicode disk encoder and application the dicode disk encoder |
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|---|---|---|---|
| CN201821303734.7U CN208714006U (en) | 2018-08-14 | 2018-08-14 | The servo joint of dicode disk encoder and application the dicode disk encoder |
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| CN208714006U true CN208714006U (en) | 2019-04-09 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638096A (en) * | 2018-08-14 | 2018-10-12 | 深圳市零差云控科技有限公司 | The servo joint of dicode disk encoder and application the dicode disk encoder |
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2018
- 2018-08-14 CN CN201821303734.7U patent/CN208714006U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638096A (en) * | 2018-08-14 | 2018-10-12 | 深圳市零差云控科技有限公司 | The servo joint of dicode disk encoder and application the dicode disk encoder |
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