CN219015327U

CN219015327U - Encoder and motor

Info

Publication number: CN219015327U
Application number: CN202223012108.1U
Authority: CN
Inventors: 钟成堡; 谢芳; 杨�一; 巫泽风
Original assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Kaibang Motor Manufacture Co Ltd
Current assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Kaibang Motor Manufacture Co Ltd
Priority date: 2022-11-11
Filing date: 2022-11-11
Publication date: 2023-05-12
Anticipated expiration: 2032-11-11

Abstract

The utility model provides an encoder and a motor, the encoder comprises: a circuit board on which a first photosensitive element is disposed; the shaft sleeve is used for being sleeved on the rotating shaft, and a first elastic piece and a first magnetic piece which are sequentially arranged along the direction away from the axis of the rotating shaft are installed at the first end of the shaft sleeve away from the circuit board; the code disc assembly is movably sleeved outside the shaft sleeve along the direction parallel to the axis of the rotating shaft and comprises a first code disc, and a second magnetic piece is arranged on one side, far away from the circuit board, of the code disc assembly; a second elastic piece is clamped between the first end of the shaft sleeve and the code wheel assembly; the rotary disc is positioned on one side of the shaft sleeve, which is far away from the circuit board, and is arranged at intervals with the shaft sleeve, and an LED lamp is arranged on one side of the rotary disc, which is close to the code disc assembly; the circuit board is provided with a magnetic induction element, and the shaft sleeve is provided with a magnetic disk; or the circuit board is provided with a second photosensitive element, and the shaft sleeve is provided with a second code wheel, so that the problem that the encoder in the prior art cannot keep higher precision at high and low speeds is solved.

Description

Encoder and motor

Technical Field

The utility model relates to the technical field of encoders, in particular to an encoder and a motor.

Background

The encoder is a kind of angle and speed measuring equipment integrating light/magnetism, machine and electricity, and converts the optical signal into electric signal through mechanical structure and signal processing circuit, thus realizing direct or indirect measurement of various physical quantities such as angular displacement, position and speed, etc., which is usually installed at the rear end of the motor.

The machine tool occasion requires high positioning precision and high repetition precision of a servo system, the encoder is in high requirements on the resolution and absolute precision of the encoder, the absolute precision and resolution of the encoder are improved, the number of physical dividing lines (code channels) of a code disc of the encoder and the subdivision capability of software are required to be improved, and although the current software algorithm is mature, the subdivision algorithm capability is required to be improved based on the precision of the physical dividing lines.

The number of physical score lines is limited by the prior art capability and the process level, and 1024 code channels at the circumference of a code disc and 2048 code channels at the highest can be generally achieved; in order to enlarge the physical precision, a mode of enlarging the outer diameter of the code wheel is generally adopted, and the outer diameter of the large code wheel is higher than the maximum capacity of the current photosensitive element because the rotating speed of a motor is high when a machine tool is fed rapidly, and the linear speed of the large code wheel for folding the code channel is higher; large codewheel encoders are typically only suitable for low speed applications.

Disclosure of Invention

The utility model mainly aims to provide an encoder and a motor, which are used for solving the problem that the encoder in the prior art cannot keep higher precision at high speed and low speed.

To achieve the above object, according to one aspect of the present utility model, there is provided an encoder comprising: the circuit board is provided with a first photosensitive element; the shaft sleeve is used for being sleeved on the rotating shaft, and a first elastic piece and a first magnetic piece which are sequentially arranged along the direction away from the axis of the rotating shaft are installed at the first end of the shaft sleeve away from the circuit board; the code disc assembly is movably sleeved outside the shaft sleeve along the direction parallel to the axis of the rotating shaft and comprises a first code disc corresponding to the first photosensitive element; a second magnetic piece corresponding to the first magnetic piece is arranged on one side of the code wheel assembly, which is far away from the circuit board; a second elastic piece is clamped between the first end of the shaft sleeve and the code wheel assembly; the rotary disc is positioned at one side of the shaft sleeve, which is far away from the circuit board, and is arranged at a distance from the shaft sleeve, and an LED lamp facing the first photosensitive element is arranged at one side of the rotary disc, which is close to the code disc assembly; the magnetic induction element is arranged on the circuit board, and a magnetic disk corresponding to the magnetic induction element is arranged at the first end of the shaft sleeve, which is close to the circuit board; or the circuit board is provided with a second photosensitive element, and a first end of the shaft sleeve, which is close to the circuit board, is provided with a second code disc corresponding to the second photosensitive element.

Further, the first magnetic piece and the second magnetic piece are arranged in the same pole opposite to each other.

Further, the plurality of first magnetic pieces are arranged at intervals around the axis of the rotating shaft; the number of the first elastic pieces is multiple, and the first elastic pieces and the first magnetic pieces are arranged in a one-to-one correspondence manner.

Further, the number of the first magnetic pieces and the number of the first elastic pieces are four, the four first magnetic pieces are arranged at intervals around the axis of the rotating shaft, and the four first elastic pieces are arranged in one-to-one correspondence with the four first magnetic pieces; or the number of the first magnetic pieces and the number of the first elastic pieces are six, the six first magnetic pieces are arranged at intervals around the axis of the rotating shaft, and the six first elastic pieces are arranged in one-to-one correspondence with the six first magnetic pieces; or the number of the first magnetic pieces and the first elastic pieces is eight, the eight first magnetic pieces are arranged at intervals around the axis of the rotating shaft, and the eight first elastic pieces are arranged in one-to-one correspondence with the eight first magnetic pieces.

Further, the code wheel assembly further comprises a sliding bearing, the sliding bearing is sleeved outside the shaft sleeve, the first code wheel is sleeved outside the sliding bearing, and the second magnetic piece is arranged on one side, far away from the circuit board, of the sliding bearing.

Further, the shaft sleeve comprises a shaft sleeve body, the shaft sleeve body comprises a cylindrical barrel body and an annular flange arranged at one end, close to the circuit board, of the cylindrical barrel body, the magnetic disk is arranged on one side, close to the circuit board, of the annular flange, and the code disc assembly is sleeved outside the cylindrical barrel body.

Further, the shaft sleeve further comprises an annular sleeve sleeved at one end, far away from the circuit board, of the cylindrical barrel body, the first magnetic piece is arranged outside the annular sleeve, and the first elastic piece is clamped between the first magnetic piece and the outer peripheral surface of the annular sleeve.

Further, the encoder comprises an annular shell, the annular shell is sleeved outside the shaft sleeve, the first elastic piece and the first magnetic piece are both located between the shaft sleeve and the annular shell, and the second elastic piece is clamped between the annular sleeve and the sliding bearing.

Further, the annular shell is made of magnetically permeable material.

According to another aspect of the present utility model there is provided an electric machine comprising an encoder as described above.

By applying the technical scheme of the utility model, the encoder comprises: the circuit board is provided with a first photosensitive element; the shaft sleeve is used for being sleeved on the rotating shaft, and a first elastic piece and a first magnetic piece which are sequentially arranged along the direction away from the axis of the rotating shaft are installed at the first end of the shaft sleeve away from the circuit board; the code disc assembly is movably sleeved outside the shaft sleeve along the direction parallel to the axis of the rotating shaft and comprises a first code disc corresponding to the first photosensitive element; a second magnetic piece corresponding to the first magnetic piece is arranged on one side of the code wheel assembly, which is far away from the circuit board; a second elastic piece is clamped between the first end of the shaft sleeve and the code wheel assembly; the rotary disc is positioned at one side of the shaft sleeve, which is far away from the circuit board, and is arranged at a distance from the shaft sleeve, and an LED lamp facing the first photosensitive element is arranged at one side of the rotary disc, which is close to the code disc assembly; the magnetic induction element is arranged on the circuit board, and a magnetic disk corresponding to the magnetic induction element is arranged at the first end of the shaft sleeve, which is close to the circuit board; or the circuit board is provided with a second photosensitive element, and a first end of the shaft sleeve, which is close to the circuit board, is provided with a second code disc corresponding to the second photosensitive element. Therefore, the encoder of the utility model realizes the low-speed high-precision subdivision compensation of the encoder while ensuring the quick feeding capability of the motor by arranging the first magnetic part, the first elastic part, the second magnetic part, the second elastic part and other parts, solves the problems that the physical precision of the code disc of the encoder in the prior art is lower, the encoder cannot be suitable for occasions with high rotating speed, and the function of automatic compensation of the physical precision is not available, realizes the effect of precision compensation of the photoelectric encoder of the large code disc by low-speed automatic switching, and reduces the research and development cost of the encoder while improving the precision of the encoder.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model. In the drawings:

FIG. 1 shows a cross-sectional view of an embodiment of an encoder according to the present utility model at low rotational speeds;

FIG. 2 shows a cross-sectional view of an embodiment of an encoder according to the present utility model at high rotational speeds;

FIG. 3 shows a top view of a portion of a first code wheel of an embodiment of an encoder in accordance with the present utility model;

FIG. 4 shows a top view of a disk of an embodiment of an encoder according to the present utility model.

Wherein the above figures include the following reference numerals:

1. a circuit board; 2. a shaft sleeve; 3. a first magnetic member; 4. a first elastic member; 5. a second magnetic member; 6. a first code wheel; 7. a turntable; 8. an LED lamp; 9. a magnetic induction element; 10. a magnetic disk; 11. a second photosensitive element; 12. a second code wheel; 13. a sliding bearing; 14. a sleeve body; 15. a cylindrical barrel; 16. an annular flange; 17. a second elastic member; 18. an annular sleeve; 19. an annular shell; 20. a first photosensitive element; 21. and (5) code channel.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The utility model will be described in detail below with reference to the drawings in connection with embodiments.

As shown in fig. 1 to 4, the present utility model provides an encoder including: a circuit board 1, wherein a first photosensitive element 20 is arranged on the circuit board 1; the shaft sleeve 2 is used for being sleeved on the rotating shaft, and a first elastic piece 4 and a first magnetic piece 3 which are sequentially arranged along the direction away from the axis of the rotating shaft are arranged at the first end, away from the circuit board 1, of the shaft sleeve 2; the code wheel assembly is movably sleeved outside the shaft sleeve 2 along the direction parallel to the axis of the rotating shaft and comprises a first code wheel 6 corresponding to the first photosensitive element 20; a second magnetic piece 5 corresponding to the first magnetic piece 3 is arranged on one side of the code wheel assembly far away from the circuit board 1; a second elastic piece 17 is clamped between the first end of the shaft sleeve 2 and the code wheel assembly; the rotary disc 7 is positioned on one side of the shaft sleeve 2 far away from the circuit board 1 and is arranged at intervals with the shaft sleeve 2, and an LED lamp 8 facing the first photosensitive element 20 is arranged on one side of the rotary disc 7 close to the code disc assembly; wherein, the circuit board 1 is provided with a magnetic induction element 9, and a first end of the shaft sleeve 2, which is close to the circuit board 1, is provided with a magnetic disk 10 corresponding to the magnetic induction element 9; or the circuit board 1 is provided with a second photosensitive element 11, and a first end of the shaft sleeve 2, which is close to the circuit board 1, is provided with a second code wheel 12 corresponding to the second photosensitive element 11.

Therefore, the encoder of the utility model realizes the low-speed high-precision subdivision compensation of the encoder by arranging the first magnetic part 3, the first elastic part 4, the second magnetic part 5, the second elastic part 17 and other parts, ensures the quick feeding capability of the motor, solves the problems that the physical precision of the code disc of the encoder in the prior art is lower and can not be suitable for occasions with high rotating speed, and has no function of automatically compensating the physical precision, realizes the effect of precision compensation of the low-speed automatic switching large code disc photoelectric encoder, and reduces the research and development cost of the encoder while improving the precision of the encoder.

The outer diameter D of the first code wheel 6 of the code wheel assembly of the encoder of the present utility model can be made 1/3 larger than the outer diameter of the code wheel of the same model in the prior art, compared with the equal-sized code tracks 21 which can be scored on the first code wheel 6 of the present utility model, which are more than the code wheel of the prior art, up to 25bit to 27bit or even higher, therefore, the physical precision of the encoder of the present utility model is improved, the requirements on the production process of the encoder are lower, and the development cost of the encoder is reduced.

Alternatively, the magnetic sensing element 9 and the magnetic disk 10 or the second photosensitive element 11 and the second code wheel 12 may be selectively used according to different occasions; if the fast feed must reach 8000rpm, the magnetically sensitive element 9 and the disk 10 must be used; if the fast feed only needs to 6000rpm, both can be used.

Specifically, the first photosensitive element 20, the magnetic sensing element 9, and the second photosensitive element 11 are all located on the side of the circuit board 1 near the boss 2.

As shown in the embodiment of fig. 4, the N/S stages of the magnetic disk 10 of the encoder of the present utility model are distributed in four halves, but the N/S stages are not limited to four halves, but may be eight halves, and the magnetically sensitive element 9 is used to convert the magnetic flux signal received from the magnetic disk 10 into an electrical signal.

Alternatively, the dimensions of the first 6 and second 12 code discs depend on the structure of the encoder and the volume of allowable installation space.

In one embodiment of the encoder of the present utility model, the outer diameter of the first code wheel 6 of the code wheel assembly has a value in the range of 26mm with a tolerance of + -0.1 mm.

Specifically, the first magnetic element 3 and the second magnetic element 5 are disposed with the same poles facing each other, for example, the N pole of the first magnetic element 3 is disposed toward the second magnetic element 5, and the N pole of the second magnetic element 5 is disposed toward the first magnetic element 3.

Preferably, the first magnetic pieces 3 are a plurality of, and the plurality of first magnetic pieces 3 are arranged at intervals around the axis of the rotating shaft; the number of the first elastic members 4 is plural, and the plurality of first elastic members 4 are provided in one-to-one correspondence with the plurality of first magnetic members 3.

Alternatively, the number of the first magnetic pieces 3 and the number of the first elastic pieces 4 are four, the four first magnetic pieces 3 are arranged at intervals around the axis of the rotating shaft, and the four first elastic pieces 4 are arranged in one-to-one correspondence with the four first magnetic pieces 3; or the number of the first magnetic pieces 3 and the first elastic pieces 4 is six, the six first magnetic pieces 3 are arranged at intervals around the axis of the rotating shaft, and the six first elastic pieces 4 are arranged in one-to-one correspondence with the six first magnetic pieces 3; or the number of the first magnetic pieces 3 and the first elastic pieces 4 is eight, the eight first magnetic pieces 3 are arranged at intervals around the axis of the rotating shaft, and the eight first elastic pieces 4 are arranged in one-to-one correspondence with the eight first magnetic pieces 3.

As shown in fig. 1 and 2, the code wheel assembly further comprises a sliding bearing 13, the sliding bearing 13 is sleeved outside the shaft sleeve 2, the first code wheel 6 is sleeved outside the sliding bearing 13, and the second magnetic piece 5 is installed on one side, away from the circuit board 1, of the sliding bearing 13.

As shown in fig. 1 and 2, the sleeve 2 includes a sleeve body 14, the sleeve body 14 includes a cylindrical body 15 and an annular flange 16 disposed at one end of the cylindrical body 15 near the circuit board 1, the magnetic disk 10 is mounted at one side of the annular flange 16 near the circuit board 1, and the code wheel assembly is sleeved outside the cylindrical body 15.

As shown in fig. 1 and 2, the sleeve 2 further includes an annular sleeve 18 sleeved at an end of the cylindrical barrel 15 away from the circuit board 1, the first magnetic member 3 is disposed outside the annular sleeve 18, the first elastic member 4 is sandwiched between the first magnetic member 3 and an outer peripheral surface of the annular sleeve 18, and the second elastic member 17 is sandwiched between the annular sleeve 18 and the slide bearing 13.

Specifically, the first elastic member 4 is an extension spring, and the second elastic member 17 is a compression spring.

As shown in fig. 1 and 2, the encoder includes an annular housing 19, the annular housing 19 is sleeved outside the sleeve 2, and the first elastic member 4 and the first magnetic member 3 are both located between the sleeve 2 and the annular housing 19.

In particular, the annular shell 19 is made of magnetically conductive material, the first elastic element 4 and the first magnetic element 3 being both located between the annular sleeve 18 and the annular shell 19.

The utility model also provides a motor, which comprises the encoder.

The working principle of the code wheel of the utility model is as follows:

(1) As shown in fig. 1, when the rotation speed is low (for example, within 1000 rpm), the centrifugal force becomes smaller, and the centrifugal force+magnetic attraction force is smaller than the pulling force of the first magnetic member 3; the first magnetic member 3 is pulled back to the original position by the second elastic member 17; at this time, the first magnetic element 3 and the second magnetic element 5 repel each other, and the repulsive force+the elastic force of the first elastic element 4 makes the first code wheel 6 move upwards along the sliding bearing 13; at this time, the distance between the first code wheel 6 and the first photosensitive element 20 becomes smaller, and the first photosensitive element 20 starts to work within the working range of the first photosensitive element 20, and sends the optical signal and the magnetic signal to the driver for position confirmation, speed confirmation and the like through the processing of the circuit board 1; the encoder has higher precision because of the two-signal data processing of the optical signal of the first code disk 6 and the magnetic signal of the magnetic disk 10, which are large code disks with high physical precision at this time; at this time, the machine tool finish machining is based on the high-precision position feedback result to machine out a product with higher precision.

(2) As shown in fig. 2, when the magnetic device operates at a high rotation speed, the first magnetic member 3 is subjected to centrifugal force, and the second elastic member 17 is stretched, so that the first magnetic member 3 moves along the direction away from the axis of the rotation shaft, and is no longer opposite to the second elastic member 17, and a downward magnetic attraction force is generated on the second elastic member 17; because the centrifugal force and the magnetic attraction force are larger than the elastic force of the second elastic piece 17, the first magnetic piece 3 drives the code wheel assembly to move downwards to compress the first elastic piece 4; at this time, since the first code wheel 6 is far from the first photosensitive element 20 beyond the light receiving range of the first photosensitive element 20, the first photosensitive element 20 does not operate, and only the magnetic sensing element 9 operates, so that high operation accuracy is maintained.

From the above description, it can be seen that the above embodiments of the present utility model achieve the following technical effects:

the encoder of the present utility model includes: a circuit board 1, wherein a first photosensitive element 20 is arranged on the circuit board 1; the shaft sleeve 2 is used for being sleeved on the rotating shaft, and a first elastic piece 4 and a first magnetic piece 3 which are sequentially arranged along the direction away from the axis of the rotating shaft are arranged at the first end, away from the circuit board 1, of the shaft sleeve 2; the code wheel assembly is movably sleeved outside the shaft sleeve 2 along the direction parallel to the axis of the rotating shaft, and a second magnetic piece 5 corresponding to the first magnetic piece 3 is arranged on one side of the code wheel assembly, which is far away from the circuit board 1; a second elastic piece 17 is clamped between the first end of the shaft sleeve 2 and the code wheel assembly; the rotary disc 7 is positioned on one side of the shaft sleeve 2 far away from the circuit board 1 and is arranged at intervals with the shaft sleeve 2, and an LED lamp 8 corresponding to the first photosensitive element 20 is arranged on one side of the rotary disc 7 close to the code disc assembly; wherein, the circuit board 1 is provided with a magnetic induction element 9, and a first end of the shaft sleeve 2, which is close to the circuit board 1, is provided with a magnetic disk 10 corresponding to the magnetic induction element 9; or the circuit board 1 is provided with a second photosensitive element 11, and a first end of the shaft sleeve 2, which is close to the circuit board 1, is provided with a second code wheel 12 corresponding to the second photosensitive element 11. Therefore, the encoder of the utility model realizes the low-speed high-precision subdivision compensation of the encoder by arranging the first magnetic part 3, the first elastic part 4, the second magnetic part 5, the second elastic part 17 and other parts, ensures the quick feeding capability of the motor, solves the problems that the physical precision of the code disc of the encoder in the prior art is lower and can not be suitable for occasions with high rotating speed, and has no function of automatically compensating the physical precision, realizes the effect of precision compensation of the low-speed automatic switching large code disc photoelectric encoder, and reduces the research and development cost of the encoder while improving the precision of the encoder.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In the description of the present application, it should be understood that, where azimuth terms such as "front, rear, upper, lower, left, right", "transverse, vertical, horizontal", and "top, bottom", etc., indicate azimuth or positional relationships generally based on those shown in the drawings, only for convenience of description and simplification of the description, these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present application; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition, the terms "first", "second", etc. are used to define the components, and are merely for convenience of distinguishing the corresponding components, and unless otherwise stated, the terms have no special meaning, and thus should not be construed as limiting the scope of the present application.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims

1. An encoder, comprising:

a circuit board (1), wherein a first photosensitive element (20) is arranged on the circuit board (1);

the shaft sleeve (2) is used for being sleeved on the rotating shaft, and a first elastic piece (4) and a first magnetic piece (3) which are sequentially arranged along the direction away from the axis of the rotating shaft are arranged at the first end, away from the circuit board (1), of the shaft sleeve (2);

the code wheel assembly is movably sleeved outside the shaft sleeve (2) along the direction parallel to the axis of the rotating shaft, and comprises a first code wheel (6) corresponding to the first photosensitive element (20); a second magnetic piece (5) corresponding to the first magnetic piece (3) is arranged on one side of the code wheel assembly, which is far away from the circuit board (1); a second elastic piece (17) is clamped between the first end of the shaft sleeve (2) and the code wheel assembly;

the rotary disc (7) is positioned on one side of the shaft sleeve (2) away from the circuit board (1) and is arranged at intervals with the shaft sleeve (2), and an LED lamp (8) facing the first photosensitive element (20) is arranged on one side of the rotary disc (7) close to the code disc assembly;

the magnetic induction element (9) is arranged on the circuit board (1), and a magnetic disk (10) corresponding to the magnetic induction element (9) is arranged at the first end, close to the circuit board (1), of the shaft sleeve (2); or a second photosensitive element (11) is arranged on the circuit board (1), and a second code disc (12) corresponding to the second photosensitive element (11) is arranged at the first end, close to the circuit board (1), of the shaft sleeve (2).

2. Encoder according to claim 1, characterized in that the first magnetic element (3) and the second magnetic element (5) are arranged homopolar opposite each other.

3. The encoder of claim 2, wherein,

the plurality of first magnetic pieces (3) are arranged at intervals around the axis of the rotating shaft;

the number of the first elastic pieces (4) is multiple, and the first elastic pieces (4) and the first magnetic pieces (3) are arranged in one-to-one correspondence.

4. The encoder of claim 3, wherein,

the number of the first magnetic pieces (3) and the number of the first elastic pieces (4) are four, the four first magnetic pieces (3) are arranged at intervals around the axis of the rotating shaft, and the four first elastic pieces (4) are arranged in one-to-one correspondence with the four first magnetic pieces (3); or alternatively

The number of the first magnetic pieces (3) and the number of the first elastic pieces (4) are six, the six first magnetic pieces (3) are arranged at intervals around the axis of the rotating shaft, and the six first elastic pieces (4) are arranged in one-to-one correspondence with the six first magnetic pieces (3); or alternatively

The number of the first magnetic pieces (3) and the number of the first elastic pieces (4) are eight, the eight first magnetic pieces (3) are arranged around the axis of the rotating shaft at intervals, and the eight first elastic pieces (4) are arranged in one-to-one correspondence with the eight first magnetic pieces (3).

5. Encoder according to claim 1, characterized in that the code wheel assembly further comprises a sliding bearing (13), the sliding bearing (13) is sleeved outside the shaft sleeve (2), the first code wheel (6) is sleeved outside the sliding bearing (13), and the second magnetic part (5) is mounted on the side of the sliding bearing (13) away from the circuit board (1).

6. The encoder according to claim 5, characterized in that the sleeve (2) comprises a sleeve body (14), the sleeve body (14) comprises a cylindrical barrel (15) and an annular flange (16) arranged at one end of the cylindrical barrel (15) close to the circuit board (1), the magnetic disk (10) is mounted at one side of the annular flange (16) close to the circuit board (1), and the code wheel assembly is sleeved outside the cylindrical barrel (15).

7. The encoder according to claim 6, characterized in that the sleeve (2) further comprises an annular sleeve (18) sleeved at one end of the cylindrical body (15) far away from the circuit board (1), the first magnetic member (3) is arranged outside the annular sleeve (18), the first elastic member (4) is clamped between the first magnetic member (3) and the outer circumferential surface of the annular sleeve (18), and the second elastic member (17) is clamped between the annular sleeve (18) and the sliding bearing (13).

8. Encoder according to claim 1, characterized in that it comprises an annular shell (19), said annular shell (19) being sleeved outside said sleeve (2), said first elastic element (4) and said first magnetic element (3) being both located between said sleeve (2) and said annular shell (19).

9. Encoder according to claim 8, characterized in that the annular shell (19) is made of magnetically permeable material.

10. An electric machine comprising an encoder as claimed in any one of claims 1 to 9.