A joint module installation structure capable of adjusting the position of dual encoders

Abstract

The present invention discloses a joint module installation structure capable of adjusting the position of dual encoders, and belongs to the technical field of assisting robot joint modules. It includes a flange, a rotor, a circuit board body, an input pitch adjustment component, and an output pitch adjustment component; the circuit board body is sleeved on the rotor, and the circuit board body includes an encoder circuit board, an input reading chip, and an output reading chip; the input reading chip and the output reading chip are respectively arranged on the front and rear end surfaces of the encoder circuit board; the input pitch adjustment component includes a rear ring, an adjustment washer, and an input code disk; the adjustment washer is arranged at the connection between the rear ring and the input code disk and is used to adjust the distance between the rear ring and the input code disk; the input code disk is sleeved on the rotor and is located in front of the input reading chip; the output pitch adjustment component includes an adjustment seat, an output code disk, and a threading tube. The distance between the reading chip and the code disk of the present invention can be flexibly adjusted, the difficulty of installation and debugging is reduced, and the processing cost is low.

Description

Technical Field

[0001] The present invention relates to a joint module technology for assisting a robot, and in particular to a joint module installation structure capable of adjusting the positions of dual encoders. Background Art

[0002] The joint module of the social assistance robot requires a compact structure and high precision. The dual encoder structure can make the module more accurate, but the installation position requirements of the code disk and the reading chip in the encoder are strict. If the module requires higher accuracy and needs to use a higher-bit encoder, the installation requirements will be more stringent. At present, the dual encoder installation structure of the joint module is generally that the two code disks are installed face to face. They share an encoder circuit board and are installed in the middle. A reading chip is welded on the front and back of the circuit board, corresponding to the two code disks. Because the thickness deviation of the circuit board is as high as 20%, the thickness deviation of the circuit board will affect the distance between the reading chip and the code disk. If the distance between the reading chip and the code disk cannot be flexibly adjusted, the requirements for the processing accuracy, installation and debugging of related parts will be very high, which will bring high processing costs and installation and debugging costs.

[0003] The existing dual encoder installation structure has the following defects:

[0004] 1. The distance between the reading chip and the code disc cannot be flexibly adjusted;

[0005] 2. The processing accuracy, installation and debugging are difficult and the processing cost is high. Summary of the invention

[0006] In order to overcome the shortcomings of the prior art, one of the purposes of the present invention is to propose a joint module installation structure with adjustable dual encoder positions. The distance between the reading chip and the code disk of the present invention can be flexibly adjusted, the difficulty of installation and debugging is reduced, and the processing cost is low.

[0007] One of the purposes of the present invention is achieved by adopting the following technical solution: a joint module installation structure capable of adjusting the position of dual encoders, comprising a flange, a rotor, a circuit board body, an input pitch adjustment component, and an output pitch adjustment component;

[0008] The circuit board body is sleeved on the rotor, and the circuit board body includes an encoder circuit board, an input reading chip, and an output reading chip; the input reading chip and the output reading chip are respectively arranged on the front and rear end surfaces of the encoder circuit board;

[0009] The input distance adjustment assembly includes a rear ring, an adjustment washer, and an input code disk; the rear ring is arranged on the outer side of the rotor, the rear ring is detachably and fixedly connected to the encoder circuit board, the adjustment washer is arranged at the connection between the rear ring and the encoder circuit panel and is used to adjust the distance between the rear ring and the encoder circuit panel; the input code disk is sleeved on the rotor and located at the front side of the input reading chip;

[0010] The output pitch adjustment assembly includes an adjustment seat, an output code disc, and a threading tube; the adjustment seat and the output code disc are located at the rear side of the output reading chip, and the adjustment seat and the output code disc are detachably fixedly connected and are sleeved on the threading tube together;

[0011] The flange is located on one side of the rotor, and the threading tube passes through the rotor and is fixedly connected to the flange.

[0012] Furthermore, the rear ring is arranged on the front side of the encoder circuit board.

[0013] Furthermore, the rear end of the rear ring is detachably fixedly connected to the outer end of the encoder circuit board via bolts, and the adjustment washer is sleeved on the bolts.

[0014] Furthermore, the input reading chip and the output reading chip are fixedly connected to the two end surfaces of the encoder circuit board respectively by welding.

[0015] Furthermore, a first slot is provided on a side of the adjustment seat close to the encoder circuit board, and the output code disk is located on the first slot.

[0016] Furthermore, a second slot is provided at the end of the rotor, and the input code disk is located on the second slot.

[0017] Furthermore, the input reading chip and the output reading chip are symmetrically arranged with respect to the encoder circuit board.

[0018] Furthermore, the input code disk and the output code disk are symmetrically arranged with respect to the encoder circuit board.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] The present invention arranges that the distance between the input reading chip and the input code disk can be adjusted by adjusting the gasket, and the distance between the output reading chip and the output code disk can be adjusted by adjusting the position of the adjustment seat, so that the distance between the reading chip and the code disk can be flexibly adjusted; in addition, multiple parts are detachably installed to solve the problem of the thickness deviation of the circuit board affecting the distance of the reading chip, and the distance between the reading chip and the code disk can be flexibly adjusted, which can greatly improve the processing accuracy of parts and components and reduce the difficulty of installation and debugging. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the structure of a joint module installation structure capable of adjusting the positions of dual encoders provided by the present invention;

[0022] Figure 2 This is a schematic diagram of the partially enlarged structure at point A of a joint module installation structure with adjustable dual encoder positions provided by the present invention.

[0023] In the figure: 1. Flange; 2. Rotor; 3. Input code disk; 4. Rear ring; 5. Input reading chip; 6. Adjusting washer; 7. Encoder circuit board; 8. Output reading chip; 9. Output code disk; 10. Adjusting seat; 11. Threading tube. DETAILED DESCRIPTION

[0024] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0025] like Figure 1-Figure 2 As shown, a joint module installation structure capable of adjusting the position of dual encoders comprises a flange 1, a rotor 2, a circuit board body, an input pitch adjustment component, and an output pitch adjustment component; the circuit board body is sleeved on the rotor 2, and the circuit board body comprises an encoder circuit board 7, an input reading chip 5, and an output reading chip 8; the input reading chip 5 and the output reading chip 8 are respectively arranged on the front and rear end surfaces of the encoder circuit board 7; the input pitch adjustment component comprises a rear ring 4, an adjustment washer 6, and an input code disk 3; the rear ring 4 is arranged on the outer side of the rotor 2, and the rear ring 4 is detachably fixedly connected to the encoder circuit board 7 The adjusting washer 6 is arranged at the connection between the rear ring 4 and the encoder circuit panel and is used to adjust the distance between the rear ring 4 and the encoder circuit panel; the input code disk 3 is sleeved on the rotor 2 and is located on the front side of the input reading chip 5; the output distance adjustment component includes an adjusting seat 10, an output code disk 9, and a threading tube 11; the adjusting seat 10 and the output code disk 9 are located on the rear side of the output reading chip 8, and the adjusting seat 10 and the output code disk 9 are detachably fixedly connected and sleeved on the threading tube 11 together; the flange 1 is located on one side of the rotor 2, and the threading tube 11 passes through the rotor 2 and is fixedly connected to the flange 1.

[0026] The present invention includes a rotor 2, an input code disk 3, an encoder circuit board 7, an output reading chip 8, an input reading chip 5, an output code disk 9, an adjusting washer 6, an adjusting seat 10, a threading tube 11, a flange 1, and a rear ring 4. The output code disk 9 is mounted on the adjusting seat 10 and connected to the flange 1 through the threading tube 11. The encoder circuit board 7 is mounted on the rear ring 4. The output reading chip 8 and the input reading chip 5 are welded on the front and back surfaces of the encoder circuit board 7, respectively. The input code disk 3 is mounted on the rotor 2, and the encoder circuit board 7 adjusting washer is mounted on the rear ring 4. With such a structure, whether the circuit board becomes thinner or thicker, the distance between the input reading chip 5 and the input code disk 3 can be adjusted by adjusting the washer 6, and the distance between the output reading chip 8 and the output code disk 9 can be adjusted by adjusting the position of the adjusting seat 10, so that the distance between the output reading chip 8 and the output code disk 9 can be flexibly adjusted. In this embodiment, Figure 1 The left direction is the front direction, Figure 1 The right direction is the rear direction, that is, the rear end surface direction of the encoder circuit board 7; the adjusting washer 6 is sleeved in the bolt and can be detachably adjusted to adjust the distance between the rear ring 4 and the encoder circuit board 7.

[0027] Furthermore, the rear ring 4 is arranged on the front side of the encoder circuit board 7 .

[0028] Further, the rear end of the rear ring 4 is detachably fixedly connected to the outer end of the encoder circuit board 7 by bolts, and the adjusting washer 6 is sleeved on the bolts. Bolts can be set to pass through the encoder circuit board 7 and the rear ring 4 to achieve detachable fixed connection.

[0029] Furthermore, the input reading chip 5 and the output reading chip 8 are fixedly connected to the two end surfaces of the encoder circuit board 7 by welding.

[0030] Furthermore, a first slot is provided on a side of the adjustment seat 10 close to the encoder circuit board 7 , and the output code disc is located on the first slot.

[0031] Furthermore, a second card slot is provided at the end of the rotor 2, and the input code disk is located on the second card slot. The first card slot and the second card slot are provided to facilitate the installation and fixation of the output reading chip 8 and the input reading chip 5.

[0032] Furthermore, the input reading chip 5 and the output reading chip 8 are symmetrically arranged with respect to the encoder circuit board 7 .

[0033] Furthermore, the input code disc 3 and the output code disc 9 are symmetrically arranged with respect to the encoder circuit board 7 .

[0034] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A joint module installation structure capable of adjusting the position of dual encoders, characterized in that: It includes flange, rotor, circuit board body, input pitch adjustment component and output pitch adjustment component; The circuit board body is sleeved on the rotor, and the circuit board body includes an encoder circuit board, an input reading chip, and an output reading chip; the input reading chip and the output reading chip are respectively arranged on the front and rear end surfaces of the encoder circuit board; The input distance adjustment assembly includes a rear ring, an adjustment washer, and an input code disk; the rear ring is arranged on the outer side of the rotor, the rear ring is detachably and fixedly connected to the encoder circuit board, the adjustment washer is arranged at the connection between the rear ring and the encoder circuit board and is used to adjust the distance between the rear ring and the encoder circuit board; the input code disk is sleeved on the rotor and located in front of the input reading chip; The output pitch adjustment assembly includes an adjustment seat, an output code disc, and a threading tube; the adjustment seat and the output code disc are located at the rear side of the output reading chip, and the adjustment seat and the output code disc are detachably fixedly connected and are sleeved on the threading tube together; The flange is located on one side of the rotor, and the threading tube passes through the rotor and is fixedly connected to the flange; The rear ring is arranged on the front side of the encoder circuit board; The rear end of the rear ring is detachably fixedly connected to the outer end of the encoder circuit board by bolts, and the adjustment washer is sleeved on the bolts; The input reading chip and the output reading chip are symmetrically arranged with respect to the encoder circuit board; The input code disk and the output code disk are symmetrically arranged with respect to the encoder circuit board.

2. A joint module installation structure capable of adjusting the position of dual encoders as claimed in claim 1, characterized in that: The input reading chip and the output reading chip are fixedly connected to the two end surfaces of the encoder circuit board respectively by welding.

3. A joint module installation structure capable of adjusting the position of dual encoders as claimed in claim 1, characterized in that: A first slot is formed on one side of the adjustment seat close to the encoder circuit board, and the output code disc is located on the first slot.

4. A joint module installation structure capable of adjusting the position of dual encoders as claimed in claim 1, characterized in that: A second slot is provided at the end of the rotor, and the input code disk is located on the second slot.

Images