CN210952870U - Encoder and robot joint - Google Patents
Encoder and robot joint Download PDFInfo
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- CN210952870U CN210952870U CN201922234895.6U CN201922234895U CN210952870U CN 210952870 U CN210952870 U CN 210952870U CN 201922234895 U CN201922234895 U CN 201922234895U CN 210952870 U CN210952870 U CN 210952870U
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Abstract
The application provides an encoder and robot joint, relates to encoder manufacturing field. The encoder includes a detection circuit board, a code wheel assembly, and a seal. The sealing member has and holds the chamber, and the code wheel subassembly is held in holding the intracavity, and the code wheel subassembly is connected with the sealing member. The coded disc assembly comprises a coded disc, a first through hole is formed in the coded disc, and the axis of the first through hole is overlapped with the axis of the coded disc. The first through hole is used to accommodate the drive shaft. The code wheel is rotatable relative to the seal upon actuation of the drive shaft. The detection circuit board is configured to read scale data of the code wheel. The robot joint comprises a driving device and the encoder. The driving device comprises a driving shaft which is in transmission connection with the coded disc assembly at the first through hole. This encoder will set up first through-hole on the code wheel for wear to establish the drive shaft, hold the chamber and hold the code wheel subassembly in the sealing member setting, when guaranteeing that the encoder volume is less, protected the code wheel. The position information of the robot joint is not easy to lose.
Description
Technical Field
The application relates to the field of encoder manufacturing, in particular to an encoder and a robot joint.
Background
In the related technology at present, the requirements on the precision, the weight and the cost of the robot are higher and higher, and the working environments are different. And the precision, weight and cost of the robot are mainly determined by the intelligent joints. An encoder is provided in the intelligent joint to determine the position information of the input motor. Because the space at the joint is small, the coded disc cannot be protected in the related technology, so that the coded disc is easy to be polluted, the position information of the coded disc cannot be detected by the detection circuit board, and further the robot has faults such as galloping and the like.
The applicant has found that the problems in the related art are: the code wheel lacks protection.
SUMMERY OF THE UTILITY MODEL
An object of the embodiments of the present application is to provide an encoder that aims to improve the problem of lack of protection of a code wheel in the related art.
The embodiment of the application provides an encoder which comprises a detection circuit board, a coded disc assembly and a sealing piece. The sealing member has and holds the chamber, and the code wheel subassembly is held in holding the intracavity, and the code wheel subassembly is connected with the sealing member. The coded disc assembly comprises a coded disc, a first through hole is formed in the coded disc, and the axis of the first through hole is overlapped with the axis of the coded disc. The first through hole is used to accommodate the drive shaft. The code wheel is rotatable relative to the seal upon actuation of the drive shaft. The detection circuit board is configured to read scale data of the code wheel.
Through setting up the sealing member, offer in the sealing member and hold the chamber to set up the code wheel subassembly in holding the intracavity. The sealing element protects the coded disc and prevents the coded disc from being dirty. The coded disc is provided with the first through hole, so that the coded disc is driven to rotate by the driving shaft through the first through hole, and the space occupied by the driving shaft and the coded disc is reduced to a certain extent. After the occupied space of the encoder is reduced, the encoder can be installed in the intelligent joint.
As an optional technical scheme of the embodiment of the application, the coded disc assembly further comprises a connecting barrel. A connecting cylinder is adapted to engage the drive shaft, the connecting cylinder being rotatably connected to the seal member. The connecting cylinder is located to the code wheel cover and can rotate along with the connecting cylinder. Through setting up the connecting cylinder, avoided the code wheel directly to be connected with the drive shaft, reduced the possibility that the code wheel damaged.
As an alternative to the embodiments of the present application, the connector barrel includes a first section and a second section, the first section having a smaller outer diameter than the second section. The coded disc is sleeved on the first section, and the end face, close to the coded disc, of the second section supports the coded disc. Through setting up first section and second section, the code wheel cover is located first section to the second section supports the code wheel, makes the code wheel have better stability.
As an optional technical scheme of the embodiment of the application, the coded disc assembly further comprises a fixing plate, the fixing plate is sleeved on the first section, and the fixing plate is connected with the second section. The code wheel is squeezed between the fixing plate and the second section. Through setting up the fixed plate for fixed plate and second section combined action extrude the code wheel between fixed plate and second section, and fixed plate and second section have played the guard action to the code wheel, have promoted code wheel pivoted stability, prevent code wheel and drive shaft relative slip.
As an alternative to the embodiments of the present application, the connector barrel includes a third section, and the second section connects the first section and the third section. The outer peripheral surface of the third section is attached to the inner wall of a second through hole formed in the sealing element, and the second through hole is used for penetrating through the driving shaft. By providing the third section, the code wheel assembly is rotatably connected with the sealing member. The third section is attached to the second through hole, namely the third section blocks the second through hole, so that the dirt of the code disc is further avoided, and the code disc is well protected.
As an optional technical solution of the embodiment of the present application, an outer diameter of the second section is larger than an outer diameter of the third section. By setting the outer diameter of the second section to be larger than that of the third section, when the third section is matched with the second through hole, the second section abuts against the inner wall of the sealing piece, and the coded disc assembly is prevented from falling off the sealing piece.
As an optional technical scheme of the embodiment of the application, the scale surface of the code disc is far away from the third section, and the detection end of the detection circuit board is close to the scale surface of the code disc. The scale surface of the coded disc is arranged to be far away from the third section, namely the scale surface of the coded disc is arranged at one end far away from the easy pollution, and the coded disc is prevented from being dirty.
As an optional technical scheme of the embodiment of the application, the detection circuit board is accommodated in the accommodating cavity and is fixedly connected with the sealing piece. The detection circuit board is integrated in the sealing element, so that the whole size of the encoder is reduced, and the installation at the joint is facilitated.
As an optional technical scheme of the embodiment of the application, the coded disc is a reflection-type photoelectric coded disc. The volume of the encoder can be reduced by setting the code disc as a reflective photoelectric code disc and utilizing the principle of light reflection.
The embodiment of the application also provides a robot joint, which comprises a driving device and the encoder in any one of the above items, wherein the driving device comprises a driving shaft, and the driving shaft is in transmission connection with the coded disc assembly at the first through hole. The encoder of the robot joint is protected by the sealing piece, the coded disc of the encoder is not easy to be polluted, and the position information of the robot joint is not easy to lose.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of an encoder according to an embodiment of the present application under a first view;
FIG. 2 is a cross-sectional view taken at the location II-II in FIG. 1;
fig. 3 is a schematic overall structural diagram of a connector provided in an embodiment of the present application;
FIG. 4 is a schematic overall structure diagram of a code wheel assembly provided by an embodiment of the present application;
fig. 5 is a schematic overall structure diagram of a sealing member according to an embodiment of the present application.
Icon: 10-an encoder; 100-detecting the circuit board; 110-a detection end; 120-a signal output; 130-a circuit board body; 200-code wheel assembly; 210-a code wheel; 220-a connecting cylinder; 221-first stage; 222-a second segment; 223-third section; 230-a fixed plate; 300-a seal; 310-a first mounting portion; 311-an accommodation chamber; 312 — a second via; 320-a second mounting portion; 321-output opening.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present application, it is to be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, refer to the orientation or positional relationship as shown in the drawings, or as conventionally placed in use of the product of the application, or as conventionally understood by those skilled in the art, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present application.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
In the related technology at present, the requirements on the precision, the weight and the cost of the robot are higher and higher, and the working environments are different. And the precision, weight and cost of the robot are mainly determined by the intelligent joints. An encoder is provided in the intelligent joint to determine the position information of the input motor. Because the space at the joint is small, the coded disc cannot be protected in the related technology, so that the coded disc is easy to be polluted, the position information of the coded disc cannot be detected by the detection circuit board, and further the robot has faults such as galloping and the like. The applicant has found that the problems in the related art are: the code wheel lacks protection.
In view of the above situation, the applicant has proposed an encoder and a robot joint based on a great deal of theoretical research and practical operation. This encoder will set up first through-hole on the code wheel for wear to establish the drive shaft, hold the chamber and hold the code wheel subassembly in the sealing member setting, when guaranteeing that the encoder volume is less, protected the code wheel. The position information of the robot joint is not easy to lose.
Examples
Referring to fig. 1 and fig. 2, the present embodiment provides an encoder 10, where the encoder 10 includes a detection circuit board 100, a code wheel assembly 200, and a sealing member 300. The sealing member 300 has a receiving cavity 311, the code wheel assembly 200 is received in the receiving cavity 311, and the code wheel assembly 200 is coupled to the sealing member 300. The code wheel assembly 200 comprises a code wheel 210, wherein the code wheel 210 is provided with a first through hole, and the axis of the first through hole is coincident with the axis of the code wheel 210. The first through hole is used to accommodate the drive shaft. The code wheel 210 is able to rotate relative to the seal 300 upon actuation of the drive shaft. The detection circuit board 100 is configured to read scale data of the code wheel 210.
By providing the seal member 300, the accommodation cavity 311 is provided in the seal member 300, and the code wheel assembly 200 is disposed in the accommodation cavity 311. The seal 300 protects the code wheel 210 and prevents the code wheel 210 from becoming soiled. The coded disc 210 is provided with the first through hole, so that the coded disc 210 is driven to rotate by the driving shaft through the first through hole, and thus, the space occupied by the driving shaft and the coded disc 210 is reduced to a certain extent. After the space occupied by the encoder 10 is reduced, the encoder can be installed in the intelligent joint.
Referring to fig. 2, the detection circuit board 100 includes a circuit board body 130, a detection terminal 110 and a signal output terminal 120, wherein the detection terminal 110 is electrically connected to the circuit board body 130, and the signal output terminal 120 is electrically connected to the circuit board body 130. The detection end 110 detects the scale data on the code wheel 210 and transmits the scale data to the circuit board body 130, and the circuit board body 130 converts the data into ABZ high and low levels and outputs the ABZ high and low levels through the signal output end 120.
In an alternative embodiment, the code wheel 210 is directly sleeved on the driving shaft, the driving shaft directly drives the code wheel 210 to rotate, and the detection circuit board 100 detects the scale on the code wheel 210 to determine the position of the driving device.
In the present embodiment, referring to fig. 2 and fig. 3 and 4, the code wheel assembly 200 further includes a connecting cylinder 220. The connector barrel 220 is adapted to mate with a drive shaft, the connector barrel 220 rotatably coupled with the seal 300. The code wheel 210 is sleeved on the connecting cylinder 220 and can rotate along with the connecting cylinder 220. By arranging the connecting barrel 220, the coded disc 210 is prevented from being directly connected with the driving shaft, and the possibility of damage to the coded disc 210 is reduced.
Referring to fig. 3 and fig. 4, in the present embodiment, the connecting cylinder 220 includes a first section 221 and a second section 222, and the outer diameter of the first section 221 is smaller than that of the second section 222. The code wheel 210 is sleeved on the first section 221, and the end surface of the second section 222 close to the code wheel 210 supports the code wheel 210. As shown in FIG. 3, the code wheel 210 is disposed around the outer periphery of the first section 221, and the upper surface of the second section 222 supports the code wheel 210. By providing the first section 221 and the second section 222, the code wheel 210 is sleeved on the first section 221, and the second section 222 supports the code wheel 210, so that the code wheel 210 has better stability.
Referring to fig. 3 and fig. 5, in the present embodiment, the connecting cylinder 220 includes a third segment 223, and the second segment 222 connects the first segment 221 and the third segment 223. The outer peripheral surface of the third segment 223 is fitted to the inner wall of a second through hole 312 provided in the sealing member 300, and the second through hole 312 is used to pass through the drive shaft. By providing the third segment 223, the code wheel assembly 200 is rotatably coupled to the seal 300. The third section 223 is attached to the second through hole 312, that is, the third section 223 blocks the second through hole 312, so that the contamination of the code wheel 210 is further avoided, and the code wheel 210 is well protected.
In this embodiment, referring to fig. 3, the outer diameter of the second section 222 is larger than that of the third section 223. By setting the outer diameter of the second section 222 to be larger than the outer diameter of the third section 223, when the third section 223 is engaged with the second through hole 312, the second section 222 abuts against the inner wall of the sealing member 300, preventing the code wheel assembly 200 from coming off the sealing member 300. In an alternative embodiment, the outer diameter of the second section 222 may also be equal to or smaller than the outer diameter of the third section 223, and at this time, the outer diameter of the code wheel 210 is larger than the outer diameter of the third section 223, and the non-scale surface of the code wheel 210 abuts against the inner wall of the sealing member 300, so as to prevent the code wheel assembly 200 from falling out of the sealing member 300.
Referring to FIG. 4, the code wheel assembly 200 further includes a fixing plate 230, the fixing plate 230 is disposed on the first section 221, and the fixing plate 230 is connected to the second section 222. In the present embodiment, the fixing plate 230 has an annular shape, the inner peripheral surface of the fixing plate 230 is attached to the outer peripheral surface of the first segment 221, screw holes are formed in the fixing plate 230, the code wheel 210, and the second segment 222 at corresponding positions, and the fixing plate 230 and the second segment 222 are connected to each other at the positions of the screw holes by screws or bolts. The code wheel 210 is squeezed between the fixing plate 230 and the second segment 222. By arranging the fixing plate 230, the fixing plate 230 and the second section 222 work together to press the code wheel 210 between the fixing plate 230 and the second section 222, the fixing plate 230 and the second section 222 protect the code wheel 210, the stability of the rotation of the code wheel 210 is improved, and the relative sliding of the code wheel 210 and the driving shaft is prevented.
Referring to fig. 4, in the present embodiment, the scale surface of the code wheel 210 is far away from the third segment 223, and the detection end 110 of the detection circuit board 100 is close to the scale surface of the code wheel 210. For example, when the code wheel assembly 200 is positioned in the manner shown in FIG. 4, the scale surface of the code wheel 210 faces upward and away from the third segment 223. At this time, the detection circuit board 100 should be disposed above the scale surface of the code wheel 210 for detection. The scale surface of the code wheel 210 is arranged to be far away from the third section 223, namely the scale surface of the code wheel 210 is arranged to be far away from one end which is easy to pollute, and therefore the code wheel 210 is prevented from being polluted.
Referring to fig. 5, in the present embodiment, the sealing member 300 includes a first mounting portion 310 and a second mounting portion 320, and the first mounting portion 310 and the second mounting portion 320 are integrally formed. The first mounting portion 310 has a substantially disk shape, and the second mounting portion 320 has a substantially rectangular parallelepiped shape. The first and second mounting parts 310 and 320 are each hollow. The hollow portions of the first and second mounting portions 310 and 320 are receiving cavities 311 in this embodiment. The first mounting portion 310 is provided with a second through hole 312, and the second through hole 312 communicates with the accommodating chamber 311. The second through hole 312 is a circular hole, and the second through hole 312 is used to pass through the drive shaft. After the driving shaft penetrates into the accommodating cavity 311 from the second through hole 312, the driving shaft is matched with the inner wall of the first section 221, the inner wall of the second section 222 and the inner wall of the third section 223 of the code wheel assembly 200 to drive the code wheel assembly 200 to rotate, so that the code wheel 210 is driven to rotate. The second mounting portion 320 is used to mount the detection circuit board 100. The detection circuit board 100 is accommodated in the accommodating cavity 311, and the detection circuit board 100 is fixedly connected with the second mounting portion 320. By integrating the detection circuit board 100 into the sealing member 300 at the same time, the overall size of the encoder 10 is reduced, facilitating the installation at the joint. An output opening 321 is formed on the second mounting portion 320, the signal output terminal 120 is aligned with the output opening 321, and the ADZ flat cable is electrically connected to the signal output terminal 120 at the output opening 321 to transmit the signal output by the signal output terminal 120.
In the present embodiment, the code wheel 210 is a reflective photoelectric code wheel 210. By providing the code wheel 210 as a reflective-type photoelectric code wheel 210, the volume of the encoder 10 can be reduced by utilizing the principle of light reflection.
The present embodiment provides an encoder 10, and the encoder 10 includes a detection circuit board 100, a code wheel assembly 200, and a sealing member 300. The sealing member 300 has a receiving cavity 311, the code wheel assembly 200 is received in the receiving cavity 311, and the code wheel assembly 200 is coupled to the sealing member 300. The code wheel assembly 200 comprises a code wheel 210, wherein the code wheel 210 is provided with a first through hole, and the axis of the first through hole is coincident with the axis of the code wheel 210. The first through hole is used to accommodate the drive shaft. The code wheel 210 is able to rotate relative to the seal 300 upon actuation of the drive shaft. The detection circuit board 100 is configured to read scale data of the code wheel 210. By providing the seal member 300, the accommodation cavity 311 is provided in the seal member 300, and the code wheel assembly 200 is disposed in the accommodation cavity 311. The seal 300 protects the code wheel 210 and prevents the code wheel 210 from becoming soiled. The coded disc 210 is provided with the first through hole, so that the coded disc 210 is driven to rotate by the driving shaft through the first through hole, and thus, the space occupied by the driving shaft and the coded disc 210 is reduced to a certain extent. After the space occupied by the encoder 10 is reduced, the encoder can be installed in the intelligent joint.
The present embodiment also provides a robot joint, which comprises a driving device and the encoder 10, wherein the driving device comprises a driving shaft, and the driving shaft is in transmission connection with the coded disc assembly 200 at the first through hole. The encoder 10 of the robot joint is protected by the sealing element 300, the code disc 210 is not easily polluted, and the position information of the robot joint is not easily lost.
In this embodiment, the drive means comprises a hollow motor. The robot joint further comprises a driving plate, and the driving plate is electrically connected with the hollow motor. The encoder 10 is installed on a driving shaft of the hollow motor, and converts position information of the driving shaft into high and low levels to be transmitted to the driving plate by collecting scale information on the code disc 210. The drive plate controls the hollow motor to perform the next action according to the position information.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. The encoder is characterized by comprising a detection circuit board, a coded disc assembly and a sealing element, wherein the sealing element is provided with an accommodating cavity, the coded disc assembly is accommodated in the accommodating cavity and connected with the sealing element, the coded disc assembly comprises a coded disc, a first through hole is formed in the coded disc, the axis of the first through hole is overlapped with the axis of the coded disc, the first through hole is used for accommodating a driving shaft, the coded disc can rotate relative to the sealing element under the driving of the driving shaft, and the detection circuit board is configured to read scale data of the coded disc.
2. The encoder of claim 1, wherein the code wheel assembly further comprises a connector barrel adapted to engage a drive shaft, the connector barrel being rotatably coupled to the sealing member, the code wheel being mounted on the connector barrel and being rotatable therewith.
3. The encoder of claim 2, wherein said connector barrel includes a first section and a second section, said first section having a smaller outer diameter than said second section, said code wheel being sleeved on said first section, an end surface of said second section adjacent said code wheel supporting said code wheel.
4. The encoder of claim 3, wherein the code wheel assembly further comprises a retainer plate sleeved over the first segment, the retainer plate coupled to the second segment, the code wheel compressed between the retainer plate and the second segment.
5. The encoder according to claim 4, wherein the connecting cylinder includes a third section connecting the first section and the third section, and an outer circumferential surface of the third section is fitted to an inner wall of a second through hole provided in the sealing member, the second through hole being adapted to pass through a driving shaft.
6. The encoder of claim 5, wherein the second segment has an outer diameter greater than an outer diameter of the third segment.
7. The encoder as claimed in claim 6, wherein the scale surface of the code wheel is far from the third segment, and the detection end of the detection circuit board is close to the scale surface of the code wheel.
8. The encoder of claim 1, wherein the detection circuit board is accommodated in the accommodating cavity, and the detection circuit board is fixedly connected with the sealing member.
9. The encoder of claim 1, wherein said code wheel is a reflective electro-optic code wheel.
10. A robotic joint comprising a drive device and an encoder according to any of claims 1-9, said drive device comprising a drive shaft drivingly connected to said code wheel assembly at said first throughbore.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922234895.6U CN210952870U (en) | 2019-12-12 | 2019-12-12 | Encoder and robot joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922234895.6U CN210952870U (en) | 2019-12-12 | 2019-12-12 | Encoder and robot joint |
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| CN210952870U true CN210952870U (en) | 2020-07-07 |
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| CN201922234895.6U Active CN210952870U (en) | 2019-12-12 | 2019-12-12 | Encoder and robot joint |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113048285A (en) * | 2021-02-05 | 2021-06-29 | 北京显通恒泰科技有限公司 | Regulating valve opening degree detection device, detection structure and detection method |
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2019
- 2019-12-12 CN CN201922234895.6U patent/CN210952870U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113048285A (en) * | 2021-02-05 | 2021-06-29 | 北京显通恒泰科技有限公司 | Regulating valve opening degree detection device, detection structure and detection method |
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