Modular encoder for robotic arm

Abstract

The present application relates to the technical field of robot arm manufacturing, and specifically proposes a modular code disk for a robot arm. The present application has a mechanical code disk, a mechanical code disk base and a mechanical code disk reader; a motor code disk, a motor code disk base and a motor code disk reader. The present application also has an upper fixing plate of the code disk module and a lower fixing plate of the code disk module; a module fixing column is also arranged between the upper fixing plate of the code disk module and the lower fixing plate of the code disk module, the mechanical code disk base is installed and fixed on the upper fixing plate of the code disk module, and the motor code disk base is installed and fixed on the lower fixing plate of the code disk module. The upper fixing plate of the code disk module and the lower fixing plate of the code disk module made of stainless steel plate are used to fix code disk components such as the mechanical code disk reader and the motor code disk reader, so that the code disk without a shell is easier to observe on the robot arm, which can not only directly find the signal problems of the code disk and the code disk reader, but also make the assembly of the robot arm code disk related components more convenient and quick, thereby improving the production efficiency and quality of the robot arm.

Description

Technical Field

[0001] The present application relates to the technical field of robot arm manufacturing, and specifically proposes a modular code disk for a robot arm. Background Art

[0002] The existing robot arm encoder has a closed cover structure, and the code disc and the reader are installed in a shell made of bakelite. Once the code disc fails, the internal code disc cannot be directly observed, and it is also inconvenient to install the code disc inside the code disc shell.

[0003] The existing modular code disk installation is arranged inside a code disk shell composed of a code disk sealing seat and a code disk upper cover. When the code disk fails or needs maintenance, it is necessary to open the robotic arm cover, but the condition of the code disk cannot be directly observed, and the code disk sealing seat and the code disk upper cover of the code disk shell need to be disassembled and separated. Therefore, the setting of the code disk shell not only cannot directly observe the internal code disk status, but also the robotic arm with the code disk shell is more inconvenient to assemble. Summary of the invention

[0004] In view of the shortcomings of the code disc structure in the above-mentioned prior art, the technical problem to be solved by the present application is to provide a modular code disc for a robotic arm, so that the modular code disc structure of the robotic arm is simple and easy to assemble.

[0005] The modular code disk of the robot arm of the present application has a mechanical code disk, a mechanical code disk base and a mechanical code disk reader; a motor code disk, a motor code disk base and a motor code disk reader, and is characterized in that the modular code disk of the robot arm of the present application also has an upper fixing plate of the code disk module and a lower fixing plate of the code disk module; a module fixing column is also provided between the upper fixing plate of the code disk module and the lower fixing plate of the code disk module, the mechanical code disk base is installed and fixed on the upper fixing plate of the code disk module, the motor code disk base is installed and fixed on the lower fixing plate of the code disk module, there is a gap between the motor code disk base and the mechanical code disk base, and the mechanical code disk reader is installed and fixed on the code disk module On the upper fixed plate, the motor code disc reader is installed and fixed on the lower fixed plate of the code disc module, and the mechanical code disc reader and the motor code disc reader are arranged relatively between the upper fixed plate of the code disc module and the lower fixed plate of the code disc module; the mechanical code disc reader and the motor code disc reader are arranged between the upper fixed plate of the code disc module and the lower fixed plate of the code disc module, the mechanical code disc base passes through and is fixed on the upper fixed plate of the code disc module, and the motor code disc base passes through and is fixed on the lower fixed plate of the code disc module, and an active gap is arranged between the above-mentioned mechanical code disc base and the upper fixed plate of the code disc module, and an active gap is arranged between the above-mentioned motor code disc base and the lower fixed plate of the code disc module.

[0006] The modular code disk of the robot arm of the present application is installed and fixed on the robot arm. The modular code disk of the robot arm is located at the end of the six axes of the robot arm. The modular code disk of the robot arm uses a mechanical code disk reader and a motor code disk reader to read the mechanical code disk and motor code disk data for the operation of the robot arm.

[0007] The lower fixing plate of the code disc module is installed on the robotic arm, and the lower fixing plate of the code disc module is provided with a driving plate support column and screws. The two ends of the driving plate support column have screw holes and bosses. The upper fixing plate of the code disc module and the lower fixing plate of the code disc module are fixedly installed on the driving plate support column. The upper fixing plate of the code disc module and the lower fixing plate of the code disc module are sleeved on the bosses at both ends of the driving plate support column, and the screw holes at both ends of the driving plate support column are used to fix the upper fixing plate of the code disc module and the lower fixing plate of the code disc module on the bosses at both ends of the driving plate support column with screws.

[0008] The modular code disk of the robot arm of the present application also has a driving plate and a driving plate support column for fixing and supporting the driving plate; the lower fixed plate of the code disk module is also provided with a plurality of through holes, the driving plate support column is fixedly mounted on the lower fixed plate of the code disk module, and the driving plate is fixedly mounted on the driving plate support column. The driving plate is located on the upper part of the upper fixed plate of the code disk module, and the driving plate support column is higher than the module fixed column.

[0009] The modular code disk of the robot arm of the present application also has a cover and a cover fixing column for fixing the cover. Since the four-axis robot arm is more easily contaminated by oil than the six-axis robot arm, the cover is specially provided on the modular code disk of the robot arm so that the modular code disk of the robot arm is protected by the cover and is not directly invaded and contaminated by oil.

[0010] The cover fixing column is fixedly installed between the lower fixing plate of the code disc module and the cover, the cover covers the modular code disc of the robot arm, and the cover fixing column is located on one side of the side plate outside the cover.

[0011] Compared with the prior art, the beneficial effects of the present application are as follows: the technical solution of the present application cancels the setting of the code disk shell, and adopts the upper fixing plate of the code disk module and the lower fixing plate of the code disk module made of stainless steel plate to fix the code disk components such as the mechanical code disk reader and the motor code disk reader, and copper module fixing columns are used between the upper fixing plate of the code disk module and the lower fixing plate of the code disk module to support and fix, so that the code disk without a shell is easier to observe on the robotic arm, which can not only directly find the causes of the code disk and code disk reader signal problems, but also make the assembly of the robotic arm code disk related components more convenient and quick, thereby improving the production efficiency and quality of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic diagram of the six-axis structure installation of the modular encoder of the robot arm of this application;

[0013] Figure 2 This is a schematic diagram of the six-axis structure of the modular encoder of the robot arm of this application;

[0014] Figure 3 This is a cross-sectional view of the six-axis structure of the modular encoder of the robot arm of this application;

[0015] Figure 4 This is a schematic diagram of the installation of the modular encoder four-axis structure of the robot arm of this application;

[0016] Figure 5 It is a schematic diagram of the four-axis structure cover of the modular encoder of the robot arm of this application.

[0017] Markings in the attached figure: 1. Mechanical code disk base; 2. Motor code disk base; 3. Mechanical code disk; 4. Motor code disk; 5. Drive board support column; 6. Module fixing column; 7. Code disk module upper fixing plate; 8. Code disk module lower fixing plate; 9. Drive board; 10. Screws; 11. Robotic arm; 12. Mechanical code disk reader; 13. Motor code disk reader; 14. Robotic arm modular code disk; 15. Cover fixing column; 16. Cover. DETAILED DESCRIPTION

[0018] The following is a detailed description of two preferred embodiments of the present application in conjunction with the drawings in the specification, so that the advantages and features of the present application can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present application. Example

[0019] This embodiment is used to illustrate the invention scheme of the present application technology by deploying a six-axis robot arm. Figure 1 What is shown is that the modular code disk 14 of the robot arm of the present application is installed and fixed on the robot arm 11, and the modular code disk 14 is located at the end of the six axes of the robot arm. The modular code disk 14 uses the mechanical code disk reader 12 and the motor code disk reader 13 to read the data of the mechanical code disk 3 and the motor code disk 4 for the operation of the robot arm 11.

[0020] exist Figure 1 , Figure 2 and Figure 3In the present application, the modular code disk 14 of the robot arm has a mechanical code disk 3, a mechanical code disk base 1 and a mechanical code disk reader 12; a motor code disk 4, a motor code disk base 2 and a motor code disk reader 13, characterized in that the modular code disk 14 of the robot arm of the present application also has an upper fixing plate 7 of the code disk module and a lower fixing plate 8 of the code disk module; a module fixing column 6 is also arranged and fixed between the upper fixing plate 7 of the code disk module and the lower fixing plate 8 of the code disk module, the mechanical code disk base 1 is installed and fixed on the upper fixing plate 7 of the code disk module, the motor code disk base 2 is installed and fixed on the lower fixing plate 8 of the code disk module, there is a gap between the motor code disk base 2 and the mechanical code disk base 1, and the mechanical code disk reader 12 is installed and fixed on the code disk module The motor code disc reader 13 is installed and fixed on the upper fixed plate 7 of the code disc module, and the mechanical code disc reader 12 and the motor code disc reader 13 are arranged relatively between the upper fixed plate 7 of the code disc module and the lower fixed plate 8 of the code disc module; the mechanical code disc reader 12 and the motor code disc reader 13 are arranged between the upper fixed plate 7 of the code disc module and the lower fixed plate 8 of the code disc module, the mechanical code disc base 1 passes through and is fixed on the upper fixed plate 7 of the code disc module, and the motor code disc base 2 passes through and is fixed on the lower fixed plate 8 of the code disc module, and an active gap is arranged between the above-mentioned mechanical code disc base 1 and the upper fixed plate 7 of the code disc module, and an active gap is arranged between the above-mentioned motor code disc base 2 and the lower fixed plate 8 of the code disc module.

[0021] The lower fixing plate 8 of the code disc module is installed on the robotic arm 11, and the lower fixing plate 8 for fixing the code disc module is provided with a driving plate support column 5 and a screw 10, and the two ends of the driving plate support column 5 have screw holes and bosses, and the upper fixing plate 7 of the code disc module and the lower fixing plate 8 of the code disc module are fixedly installed on the driving plate support column 5, and the upper fixing plate 7 of the code disc module and the lower fixing plate 8 of the code disc module are sleeved on the bosses at the two ends of the driving plate support column 5, and the screw holes at the two ends of the driving plate support column 5 are used to fix the upper fixing plate 7 of the code disc module and the lower fixing plate 8 of the code disc module on the bosses at the two ends of the driving plate support column 5 with screws.

[0022] The modular code disk 14 of the robot arm of the present application also has a driving plate 9 and a driving plate support column 5 for fixing and supporting the driving plate 9; the lower fixed plate 8 of the code disk module is also provided with a plurality of through holes, the driving plate support column 5 is fixedly mounted on the lower fixed plate 8 of the code disk module, and the driving plate 9 is fixedly mounted on the driving plate support column 5. The driving plate 9 is located on the upper part of the upper fixed plate 7 of the code disk module, and the driving plate support column 5 is higher than the module fixed column 6. Example

[0023] This embodiment relates to a four-axis robotic arm, and this embodiment is basically the same as the first embodiment, and the following description is made for the differences.

[0024] exist Figure 4 and Figure 5 In the present application, the modular code disk 14 of the robot arm also has a cover 16 and a cover fixing column 15 for fixing the cover 16. Since the four-axis robot arm is more easily contaminated by oil than the six-axis robot arm, the cover 16 is specially arranged on the modular code disk 14 of the robot arm so that the modular code disk 14 of the robot arm is protected by the cover 16 and is not directly invaded and contaminated by oil.

[0025] The cover fixing column 15 is fixedly installed between the lower fixing plate 8 of the code disc module and the cover 16 . The cover 16 covers the modular code disc 14 of the robot arm. The cover fixing column 15 is located on one side of the side panel outside the cover 16 .

[0026] The above description is only a preferred implementation mode of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A modular code disk for a robotic arm, comprising a mechanical code disk, a mechanical code disk base and a mechanical code disk reader; a motor code disk, a motor code disk base and a motor code disk reader, characterized in that: The modular code disk of the robotic arm comprises a module fixing column, a mechanical code disk base, an upper fixing plate of the code disk module and a lower fixing plate of the code disk module; a module fixing column is arranged and fixed between the upper fixing plate of the code disk module and the lower fixing plate of the code disk module, the mechanical code disk base is installed and fixed on the upper fixing plate of the code disk module, the motor code disk base is installed and fixed on the lower fixing plate of the code disk module, the mechanical code disk reader is installed and fixed on the upper fixing plate of the code disk module, the motor code disk reader is installed and fixed on the lower fixing plate of the code disk module, the mechanical code disk reader and the motor code disk reader are arranged on the upper fixing plate of the code disk module and the code disk module The modular code disk of the robot arm also has a driving plate, and a driving plate support column and screws for fixing and supporting the driving plate, and the driving plate is fixedly installed on the driving plate support column; the driving plate support column has screw holes and bosses at both ends, and the upper fixing plate of the code disk module and the lower fixing plate of the code disk module are fixedly installed on the driving plate support column, and the upper fixing plate of the code disk module and the lower fixing plate of the code disk module are sleeved on the bosses at both ends of the driving plate support column, and the screw holes at both ends of the driving plate support column use screws to fix the upper fixing plate of the code disk module and the lower fixing plate of the code disk module to the bosses at both ends of the driving plate support column; There is a gap between the motor code disc base and the mechanical code disc base, and the mechanical code disc reader and the motor code disc reader are arranged relatively between the upper fixed plate of the code disc module and the lower fixed plate of the code disc module; the mechanical code disc base passes through and is fixed on the upper fixed plate of the code disc module, and the motor code disc base passes through and is fixed on the lower fixed plate of the code disc module. A movable gap is set between the mechanical code disc base and the upper fixed plate of the code disc module, and a movable gap is set between the motor code disc base and the lower fixed plate of the code disc module; a plurality of through holes are also set on the lower fixed plate of the code disc module, and the drive plate support column is fixedly mounted on the lower fixed plate of the code disc module, and the drive plate is located on the upper part of the upper fixed plate of the code disc module, and the above-mentioned drive plate support column is higher than the module fixed column.

2. The modular code disk for a robotic arm according to claim 1, characterized in that: The modular code disc of the robotic arm is installed and fixed on the robotic arm, and the modular code disc of the robotic arm is located at the end of the six axes of the robotic arm.

3. The modular code disk of the robot arm according to claim 1, characterized in that: The modular code disk of the robotic arm also has a cover and a cover fixing column for fixing the cover. The cover fixing column is fixedly installed between the lower fixing plate of the code disk module and the cover. The cover covers the modular code disk of the robotic arm, and the cover fixing column is located on one side of the side panel outside the cover.

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