Dual encoder device and robot
By designing a dual encoder device and installing a read head with independent rotating components and bosses, the problems of low modularity and unstable position of the collaborative robot encoder are solved, achieving higher detection accuracy and maintenance convenience, suitable for collaboration Robot security and redundant detection.
Patent Information
- Application Number
- CN202011544035.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2020-12-24
- Publication Date
- 2024-12-13
- Estimated Expiration
- 2040-12-24
AI Technical Summary
The existing collaborative robot encoder is not very modular, resulting in inconvenient assembly and after-sales maintenance, and the position of the encoder code disk and read head is unstable, affecting the detection accuracy.
A dual encoder device is designed, including an independent first rotating assembly and a second rotating assembly, and a reading head is installed through the boss of the encoder bracket, and an optical code disk and a magnetic code disk are integrated to detect the positions of different output shafts and Speed information improves modularity and installation stability.
It realizes position stability of the encoder code disk and read head, reduces assembly parts, improves detection accuracy and maintenance convenience, and is suitable for the safety and redundant detection of collaborative robots.
Smart Images
Figure CN114670250B_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of motor production, and in particular to a dual encoder device and a robot. Background Art
[0002] With the rapid development of science and technology, the application fields of robots are becoming more and more extensive. As an automated labor force working in collaboration with humans, collaborative robots have entered more light industrial production. The new application fields also put forward higher requirements for collaborative robots, that is, they need to be easy to operate with low professional technical requirements, and have high safety when working with humans.
[0003] The encoder is an important detection component that can usually be used to obtain information such as position and speed. The encoder usually includes a code disk and a reader. The code disk and the reader need to be installed in corresponding positions so that the reader can read the information of the code disk normally.
[0004] In the prior art, collaborative robot encoders mainly include motor encoders and joint encoders. The two encoders are each provided with a separate bracket and are respectively installed on the joint housing. The degree of modularization is not high enough, and it is not convenient for later maintenance.
[0005] Therefore, it is necessary to design a dual encoder device and a robot with a high degree of modularity and convenient assembly and after-sales maintenance. Summary of the invention
[0006] In view of this, an object of the present invention is to provide a dual encoder device and a robot with a high degree of modularity and convenient assembly and after-sales maintenance.
[0007] The present invention can adopt the following technical scheme: a dual encoder device, which includes an encoder bracket, a first rotating component and a second rotating component installed on the encoder bracket, and two encoder code disks and corresponding readers, one of the two encoder code disks is connected to the first rotating component, and the other is connected to the second rotating component, the encoder bracket includes a mounting portion for fixing the dual encoder device and a boss formed on the surface of the encoder bracket, and the boss is used to mount the reader to one side of the respective code disks.
[0008] Furthermore, the first rotating assembly and the second rotating assembly are arranged on both sides of the encoder bracket, and the two sides of the encoder bracket respectively include bosses to install the reader to one side of the respective code discs.
[0009] Furthermore, the two encoder code disks include an optical code disk and a magnetic code disk, the corresponding readers include an optical code disk reader and a magnetic code disk reader, the first rotating component is connected to the optical code disk, and the second rotating component is connected to the magnetic code disk.
[0010] Furthermore, the encoder bracket includes a dust cover arranged on the outside of the first rotating component to protect the optical code disk from dust.
[0011] Furthermore, the first rotating assembly and the second rotating assembly are used to connect different output shafts, the first rotating assembly is used to connect a high-speed output shaft, and the second rotating assembly is used to connect a low-speed output shaft.
[0012] Furthermore, the first rotating assembly and the second rotating assembly include a rotating shaft and a bearing respectively.
[0013] Furthermore, the two encoder code disks are of the same type or different types of code disks, and the types of the two encoder code disks include one or two of an optical code disk, a magnetic code disk, an inductive code disk, and a capacitive code disk. The reader type of the dual encoder device correspondingly includes one or two of an optical code disk reader head, a magnetic code disk reader head, an inductive code disk reader head, and a capacitive code disk reader head.
[0014] The present invention can also adopt the following scheme: a robot includes a connecting rod and a plurality of joints, and the joints include: a shell; a harmonic reducer, including a harmonic reducer input shaft and an output shaft; a motor, including a motor shaft, and the motor shaft is connected to the input shaft of the harmonic reducer; a joint flange, including a flange shaft, and the flange shaft is connected to the output shaft of the harmonic reducer; the joint includes a dual encoder device as described in any one of the above, and the dual encoder device is used to detect the position and speed information of the input shaft and the output shaft of the harmonic reducer, the end of the harmonic reducer input shaft is connected to the first rotating component, and the end of the harmonic reducer output shaft is connected to the second rotating component. The dual encoder is further characterized in that the robot is a collaborative robot.
[0015] Compared with the prior art, the beneficial effects of the specific implementation of the present invention are as follows: the dual encoder device includes an independently rotating first rotating component and a second rotating component, which are respectively connected to the encoder code disk, and the reader is installed to one side of the respective code disk through the boss of the encoder bracket, thereby avoiding the unstable position between the encoder code disk and the reader, which makes the encoder detection unstable. At the same time, the dual encoder device integrates two encoders, avoiding the problem of the traditional installation of two encoders requiring their own components and mounting brackets. The dual encoder device has a high degree of modularization, which is conducive to assembly and after-sales maintenance. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] The above-mentioned objectives, technical solutions and beneficial effects of the present invention can be achieved through the following drawings:
[0017] Figure 1 Schematic diagram of a dual encoder device according to an embodiment of the present invention
[0018] Figure 2This is a front view of a dual encoder device according to an embodiment of the present invention.
[0019] Figure 3 yes Figure 2 A cross-sectional view of the dual encoder device shown along the AA section line
[0020] Figure 4 This is an exploded view of a dual encoder device according to an embodiment of the present invention.
[0021] Figure 5 is a cross-sectional view of a robot joint according to an embodiment of the present invention
[0022] Figure 6 Schematic diagram of a robot according to an embodiment of the present invention DETAILED DESCRIPTION
[0023] In order to make the purpose, technical scheme and advantages of the present invention clearer, the scheme in the embodiment of the present invention will be described clearly and completely in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention but not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0024] The present invention protects a dual encoder device, referring to Figure 1-4The dual encoder device 1 includes an encoder bracket 10, a first rotating component 21 and a second rotating component 22 mounted on the encoder bracket, and two encoder code discs 30 and corresponding readers 31, one of the two encoder code discs 30 is connected to the first rotating component 21, and the other is connected to the second rotating component 22. The encoder bracket 10 includes a mounting portion 12 for fixing the dual encoder device and a boss 11 formed on the surface of the encoder bracket, and the boss 11 is used to mount the reader 31 to one side of the respective code discs 30. Specifically, the first rotating component 21 and the second rotating component 22 respectively include a rotating shaft and a bearing, the rotating shaft and the bearing are connected, the bearing of the first rotating component and the bearing of the second rotating component are respectively connected to the encoder bracket 10, specifically, the encoder bracket 10 is an annular structure, the bearing of the first rotating component 21 and the bearing of the second rotating component 22 are connected inside the annular structure, the first rotating component and the second rotating component can rotate relative to the encoder bracket, and the first rotating component 21 and the second rotating component 22 rotate independently. The encoder bracket 10 can be installed with two encoder code discs 30, each encoder code disc 30 has a corresponding reader 31, and the two encoder code discs 30 are respectively installed on the first rotating component 21 and the second rotating component 22, and the boss 11 of the encoder bracket 10 is used to install the corresponding terminal 31 of the encoder code disc to the side of the corresponding code disc 30. By setting the first rotating component 21 and the second rotating component 22, the dual encoder device 1 can generate two independent rotations, and the encoder code discs 30 can be installed respectively, and the two encoder code discs 30 can work independently. Further, the two encoder code discs 30 respectively include corresponding readers 31, and the boss 11 of the encoder bracket can install the reader 31 to the side of each code disc 30 to detect the information of each code disc respectively. The two encoder code discs 30 are respectively installed on the first rotating component 21 and the second rotating component 22, and the corresponding reader is installed on the boss 11, so that the position between the corresponding code disc 30 and the boss 11 is constant. Only by designing the boss size of the encoder bracket, the code disc and the boss can always maintain an appropriate distance, which is convenient for detection. At the same time, the positions of the two encoder code discs installed on the first rotating component and the second rotating component are relatively stable, so that the detection effect of the encoder device is relatively stable. In the traditional technology, there is a method of installing the encoder code disc on the rotating shaft, which makes the position of the code disc relatively unfixed, and the distance between the code disc and the boss needs to be adjusted, which affects the stability of the encoder detection. At the same time, by integrating the first rotating component, the second rotating component, the two encoder code discs and the corresponding reader into the dual encoder device, compared with the method of separately designing the encoder and using the encoder mounting bracket for installation, the dual encoder device of the present invention has a high degree of modularization, reduces assembly parts, and is convenient for assembly and after-sales maintenance.
[0025] The dual encoder device 1 includes a first rotating assembly 21 and a second rotating assembly 22 mounted on the encoder bracket 10. In one embodiment of the present invention, the first rotating assembly 21 and the second rotating assembly 22 are arranged on both sides of the encoder bracket 10. Both sides of the encoder bracket 10 respectively include bosses 11 to mount the read head to one side of the respective code disc 30. It can be understood that the encoder code disc 30 includes a reading side and a non-reading side, and the read head is mounted directly opposite to the reading side.
[0026] The dual encoder device 1 includes two encoder code disks 30. In one embodiment of the present invention, the two encoder code disks 30 include an optical code disk and a magnetic code disk. The corresponding readers 31 include an optical code disk reader and a magnetic code disk reader. The first rotating component 21 is connected to the optical code disk, and the second rotating component 22 is connected to the magnetic code disk. In other embodiments of the present invention, the two encoder code disks are code disks of the same type or code disks of different types. The types of the two encoder code disks include one or two of an optical code disk, a magnetic code disk, an inductive code disk, and a capacitive code disk. The reader type of the dual encoder device includes one or two of an optical code disk reader, a magnetic code disk reader, an inductive code disk reader, and a capacitive code disk reader. In one embodiment of the present invention, the first rotating component 21 and the second rotating component 22 are used to connect different output shafts. The first rotating component is used to connect a high-speed output shaft, and the second rotating component is used to connect a low-speed output shaft. For example, refer to Figure 5 , the dual encoder device 1 can usually be used to connect to the input shaft 71 and the output shaft 72 of the harmonic reducer 70. The input shaft 71 of the harmonic reducer 70 is connected to the high-speed output shaft, and the output shaft 72 of the harmonic reducer 70 is connected to the low-speed output shaft. The rotation speed of one side of the first rotating component 21 is higher, and the rotation speed of one side of the second rotating component 22 is lower. The photoelectric encoder has a relatively high accuracy and a relatively high cost. The first rotating component is connected to the optical code disk, and the second rotating component is connected to the magnetic code disk, so that the detection accuracy of the dual encoder is better and the cost is lower. Specifically, the encoder bracket includes a dust cover arranged on the outside of the first rotating component to protect the optical code disk from dust, so as to ensure the detection accuracy of the optical encoder part of the dual encoder device.
[0027] In one embodiment of the present invention, the first rotating component 21 and the second rotating component 22 are used to connect different output shafts, the first rotating component 21 is used to connect the high-speed output shaft, and the second rotating component 22 is used to connect the low-speed output shaft. The first rotating component 21 and the second rotating component 22 work independently so that the encoder code disk can independently detect the information of different output shafts.
[0028] The beneficial effects of the above preferred embodiments are: the dual encoder device includes an independently rotating first rotating component and a second rotating component, which are respectively connected to the encoder code disk, and the reader is installed to one side of the respective code disk through the boss of the encoder bracket, thereby avoiding the unstable position between the encoder code disk and the reader head causing unstable encoder detection. At the same time, the dual encoder device integrates two encoders, avoiding the problem of traditional installation of two encoders requiring their own components and mounting brackets. The dual encoder device has a high degree of modularization, which is conducive to assembly and after-sales maintenance.
[0029] The present invention also protects a robot 5, Figure 6 , including a connection 50 and a plurality of joints 60, Figure 5 , the joint 60 includes a housing 61; a harmonic reducer 70, including a harmonic reducer input shaft 71 and an output shaft 72; a motor 80, including a motor shaft, the motor shaft is connected to the input shaft 71 of the harmonic reducer 70; a joint flange 90, including a flange shaft, the flange shaft is connected to the output shaft 72 of the harmonic reducer; the joint 60 includes a dual encoder device 1 as described above, the dual encoder device 1 is used to detect the position and speed information of the harmonic reducer input shaft 71 and the output shaft 72, the end of the harmonic reducer input shaft 71 is connected to the first rotating component 21, the end of the harmonic reducer output shaft 72 is connected to the second rotating component 22, and the dual encoder device 1 is connected to the housing through the mounting portion 12. Further, the robot 5 is a collaborative robot. The joint 60 of the robot includes a dual encoder device 1, the dual encoder device 1 respectively detects the position and speed information of the harmonic reducer input end 71 and the output end 72, so as to realize the redundant safety detection mechanism of the robot through the dual encoder device 1. At the same time, compared with the method of installing two encoders separately, the dual encoder device 1 used by the robot has a high degree of modularization and a compact structure. Therefore, the robot provided by the present invention has good safety, a compact structure, and is easy to maintain.
[0030] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.
Claims
1. A dual encoder device, characterized in that: The dual encoder device includes an encoder bracket, a first rotating component and a second rotating component mounted on the encoder bracket, and two encoder code disks and corresponding readers, one of the two encoder code disks is connected to the first rotating component, and the other is connected to the second rotating component, the encoder bracket includes a mounting portion for fixing the dual encoder device and a boss formed on the surface of the encoder bracket, the boss is used to mount the reader to one side of the respective code disks; the first rotating component and the second rotating component are arranged on both sides of the encoder bracket, and the two sides of the encoder bracket respectively include bosses to mount the reader to one side of the respective code disks; the two encoder code disks include an optical code disk and a magnetic code disk, and the corresponding readers include an optical code disk reader and a magnetic code disk reader, the first rotating component is connected to the optical code disk, and the second rotating component is connected to the magnetic code disk; the first rotating component and the second rotating component are used to connect different output shafts, the first rotating component is used to connect a high-speed output shaft, and the second rotating component is used to connect a low-speed output shaft; the first rotating component and the second rotating component respectively include a rotating shaft and a bearing.
2. The dual encoder device according to claim 1, characterized in that: The encoder bracket includes a dust cover arranged on the outside of the first rotating component to protect the optical code disk from dust.
3. The dual encoder device according to claim 1, characterized in that: The two encoder code disks are of the same type or different types of code disks. The types of the two encoder code disks include one or two of an optical code disk, a magnetic code disk, an inductive code disk, and a capacitive code disk. The reader type of the dual encoder device includes one or two of an optical code disk reader head, a magnetic code disk reader head, an inductive code disk reader head, and a capacitive code disk reader head.
4. A robot comprising a connecting rod and a plurality of joints, wherein the joints include: case; A harmonic reducer, comprising a harmonic reducer input shaft and an output shaft; A motor, comprising a motor shaft, wherein the motor shaft is connected to an input shaft of the harmonic reducer; A joint flange, comprising a flange shaft, wherein the flange shaft is connected to an output shaft of the harmonic reducer; It is characterized in that the joint includes a dual encoder device according to any one of claims 1 to 3, and the dual encoder device is used to detect the position and speed information of the input shaft and the output shaft of the harmonic reducer, the end of the harmonic reducer input shaft is connected to the first rotating component, and the end of the harmonic reducer output shaft is connected to the second rotating component, and the dual encoder device is connected to the housing through the mounting portion.
5. The robot according to claim 4, characterized in that: The robot is a collaborative robot.