Encoder and motor

Abstract

This invention provides an encoder and a motor. The encoder includes: a circuit board with a first photosensitive element disposed thereon; a bushing for fitting onto a rotating shaft, wherein a first elastic element and a first magnetic element are sequentially arranged along an axis away from the rotating shaft at the first end of the bushing away from the circuit board; a code disk assembly movably fitted onto the bushing along an axis parallel to the rotating shaft, including a first code disk, wherein a second magnetic element is mounted on the side of the code disk assembly away from the circuit board; a second elastic element is sandwiched between the first end of the bushing and the code disk assembly; and a turntable located on the side of the bushing away from the circuit board and spaced apart from the bushing, wherein an LED light is disposed on the side of the turntable near the code disk assembly; wherein the circuit board has a magnetic sensing element and the bushing has a magnetic disk; or the circuit board has a second photosensitive element and the bushing has a second code disk, solving the problem that encoders in the prior art cannot maintain high accuracy at both high and low speeds.

Description

Technical Field

[0001] This invention relates to the field of encoder technology, and more specifically, to an encoder and a motor. Background Technology

[0002] An encoder is an angle and speed measuring device that integrates optics / magnetism, mechanics, and electronics. It converts optical signals into electrical signals through mechanical structures and signal processing circuits, thereby enabling direct or indirect measurement of various physical quantities such as angular displacement, position, and velocity. It is usually installed at the rear end of a motor.

[0003] Machine tool applications require servo systems with high positioning accuracy and high repeatability. This is reflected in encoders, which require high resolution and absolute accuracy. To improve the absolute accuracy and resolution of encoders, it is necessary to increase the number of physical tracks (code lines) on the encoder disk and the subdivision capability of the software. Although the current software algorithms are relatively mature, it is still necessary to improve the subdivision algorithm capability based on the accuracy of the physical tracks.

[0004] The number of physical engraving lines is limited by current technical capabilities and process levels, typically achieving 1024 tracks per circumference of a code disk, with a maximum of 2048 tracks. To increase physical accuracy, the outer diameter of the code disk is usually increased. However, due to the high motor speed during rapid feed of the machine tool, the linear speed of the code disk's converted tracks is high, exceeding the maximum capability of current photosensitive elements. Therefore, large code disk encoders are usually only suitable for low-speed applications. Summary of the Invention

[0005] The main objective of this invention is to provide an encoder and a motor to solve the problem that encoders in the prior art cannot maintain high accuracy at both high and low speeds.

[0006] To achieve the above objectives, according to one aspect of the present invention, an encoder is provided, comprising: a circuit board on which a first photosensitive element is disposed; a bushing for being fitted onto a rotating shaft, wherein a first elastic element and a first magnetic element are sequentially disposed along an axis away from the rotating shaft at a first end of the bushing away from the circuit board; a code disk assembly movably fitted onto the bushing in a direction parallel to the axis of the rotating shaft, the code disk assembly including a first code disk corresponding to the first photosensitive element; a second magnetic element corresponding to the first magnetic element is disposed on a side of the code disk assembly away from the circuit board; a second elastic element is sandwiched between the first end of the bushing and the code disk assembly; a turntable located on the side of the bushing away from the circuit board and spaced apart from the bushing, wherein an LED light facing the first photosensitive element is disposed on the side of the turntable near the code disk assembly; wherein a magnetic sensing element is disposed on the circuit board, and a magnetic disk corresponding to the magnetic sensing element is disposed at the first end of the bushing near the circuit board; or a second photosensitive element is disposed on the circuit board, and a second code disk corresponding to the second photosensitive element is disposed at the first end of the bushing near the circuit board.

[0007] Furthermore, the first magnetic element and the second magnetic element are arranged with their poles facing each other.

[0008] Furthermore, there are multiple first magnetic elements, which are arranged at intervals around the axis of the rotating shaft; there are also multiple first elastic elements, which are arranged in a one-to-one correspondence with the multiple first magnetic elements.

[0009] Furthermore, the number of first magnetic elements and first elastic elements is four, with the four first magnetic elements arranged at intervals around the axis of rotation, and the four first elastic elements corresponding to the four first magnetic elements; or the number of first magnetic elements and first elastic elements is six, with the six first magnetic elements arranged at intervals around the axis of rotation, and the six first elastic elements corresponding to the six first magnetic elements; or the number of first magnetic elements and first elastic elements is eight, with the eight first magnetic elements arranged at intervals around the axis of rotation, and the eight first elastic elements corresponding to the eight first magnetic elements.

[0010] Furthermore, the code disk assembly also includes a sliding bearing, which is sleeved outside the bushing. The first code disk is sleeved outside the sliding bearing, and the second magnetic component is mounted on the side of the sliding bearing away from the circuit board.

[0011] Furthermore, the bushing includes a bushing body, which includes a cylindrical body and an annular flange disposed at one end of the cylindrical body near the circuit board. The disk is mounted on the side of the annular flange near the circuit board, and the code disk assembly is sleeved on the cylindrical body.

[0012] Furthermore, the bushing also includes an annular sleeve fitted onto the end of the cylindrical body away from the circuit board, a first magnetic element disposed outside the annular sleeve, and a first elastic element sandwiched between the first magnetic element and the outer circumferential surface of the annular sleeve.

[0013] Furthermore, the encoder includes an annular shell, which is sleeved outside the bushing. The first elastic element and the first magnetic element are both located between the bushing and the annular shell, and the second elastic element is sandwiched between the annular sleeve and the sliding bearing.

[0014] Furthermore, the annular shell is made of a magnetically conductive material.

[0015] According to another aspect of the present invention, a motor is provided, including the encoder described above.

[0016] According to the technical solution of this invention, the encoder of this invention includes: a circuit board, on which a first photosensitive element is disposed; a bushing for being fitted onto a rotating shaft, wherein a first elastic element and a first magnetic element are sequentially arranged along an axis away from the rotating shaft at a first end of the bushing away from the circuit board; a code disk assembly, movably fitted onto the bushing along an axis parallel to the rotating shaft, the code disk assembly including a first code disk corresponding to the first photosensitive element; a second magnetic element corresponding to the first magnetic element is disposed on the side of the code disk assembly away from the circuit board; a second elastic element is sandwiched between the first end of the bushing and the code disk assembly; a turntable located on the side of the bushing away from the circuit board and spaced apart from the bushing, wherein an LED light facing the first photosensitive element is disposed on the side of the turntable near the code disk assembly; wherein, a magnetic sensing element is disposed on the circuit board, and a magnetic disk corresponding to the magnetic sensing element is disposed at the first end of the bushing near the circuit board; or a second photosensitive element is disposed on the circuit board, and a second code disk corresponding to the second photosensitive element is disposed at the first end of the bushing near the circuit board. In this way, the encoder of the present invention, by setting components such as a first magnetic element, a first elastic element, a second magnetic element, and a second elastic element, achieves low-speed, high-precision subdivision compensation of the encoder while ensuring that the motor has a rapid feed capability. This solves the problems of low physical precision of the code disk in the existing encoder, which makes it unsuitable for extremely high speed applications and lacks the function of automatic compensation of physical precision. It achieves the effect of automatic switching of the large code disk photoelectric encoder for precision compensation at low speeds, thereby improving the precision of the encoder while reducing the development cost of the encoder. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0018] Figure 1 A cross-sectional view of an embodiment of the encoder according to the present invention at low speed is shown;

[0019] Figure 2 A cross-sectional view of an embodiment of the encoder according to the present invention at high speed is shown;

[0020] Figure 3 A top view of a portion of a first code disk according to an embodiment of an encoder according to the present invention is shown;

[0021] Figure 4 A top view of a disk according to an embodiment of the encoder according to the present invention is shown.

[0022] The above figures include the following reference numerals:

[0023] 1. Circuit board; 2. Bushing; 3. First magnetic component; 4. First elastic component; 5. Second magnetic component; 6. First code disk; 7. Turntable; 8. LED light; 9. Magnetic sensing element; 10. Disk; 11. Second photosensitive element; 12. Second code disk; 13. Sliding bearing; 14. Bushing body; 15. Cylindrical body; 16. Annular flange; 17. Second elastic component; 18. Annular sleeve; 19. Annular shell; 20. First photosensitive element; 21. Code track. Detailed Implementation

[0024] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0025] like Figures 1 to 4 As shown, the present invention provides an encoder, comprising: a circuit board 1, on which a first photosensitive element 20 is disposed; a bushing 2 for being fitted onto a rotating shaft, wherein a first elastic element 4 and a first magnetic element 3 are sequentially arranged along an axis away from the rotating shaft at the first end of the bushing 2 away from the circuit board 1; a code disk assembly movably fitted onto the bushing 2 along an axis parallel to the rotating shaft, the code disk assembly including a first code disk 6 corresponding to the first photosensitive element 20; and a second magnetic element 5 corresponding to the first magnetic element 3 is mounted on the side of the code disk assembly away from the circuit board 1; and a shaft. A second elastic element 17 is sandwiched between the first end of the sleeve 2 and the code disk assembly; a turntable 7 is located on the side of the sleeve 2 away from the circuit board 1 and spaced apart from the sleeve 2, and an LED light 8 facing the first photosensitive element 20 is provided on the side of the turntable 7 near the code disk assembly; wherein, a magnetic sensing element 9 is provided on the circuit board 1, and a disk 10 corresponding to the magnetic sensing element 9 is provided on the first end of the sleeve 2 near the circuit board 1; or a second photosensitive element 11 is provided on the circuit board 1, and a second code disk 12 corresponding to the second photosensitive element 11 is provided on the first end of the sleeve 2 near the circuit board 1.

[0026] In this way, the encoder of the present invention, by setting components such as the first magnetic element 3, the first elastic element 4, the second magnetic element 5, and the second elastic element 17, achieves low-speed, high-precision subdivision compensation of the encoder while ensuring that the motor has a rapid feed capability. This solves the problem that the physical precision of the code disk of the encoder in the prior art is low, which makes it unsuitable for extremely high speed applications, and it lacks the function of automatic compensation of physical precision. It achieves the effect of automatic switching of the large code disk photoelectric encoder for precision compensation at low speeds, thereby improving the precision of the encoder while reducing the development cost of the encoder.

[0027] The outer diameter D of the first code disk 6 of the encoder of the present invention can be made 1 / 3 larger than the outer diameter of the same model of code disk in the prior art. In comparison, the number of code tracks 21 of the same size that can be engraved on the first code disk 6 of the present invention is also more than that of the code disk in the prior art, up to 25 bits to 27 bits or even higher. Therefore, the physical accuracy of the encoder of the present invention is improved, and the requirements for the encoder manufacturing process are lower, thus reducing the development cost of the encoder.

[0028] Optionally, depending on the situation, the magnetic sensor 9 and disk 10 or the second photosensitive element 11 and the second code disk 12 can be selected; if the rapid feed must reach 8000 rpm, the magnetic sensor 9 and disk 10 must be used; if the rapid feed only needs to reach 6000 rpm, either one can be used.

[0029] Specifically, the first photosensitive element 20, the magnetosensitive element 9, and the second photosensitive element 11 are all located on the side of the circuit board 1 near the bushing 2.

[0030] like Figure 4 In the embodiment shown, the N / S level of the encoder disk 10 of the present invention is distributed in four equal parts, but is not limited to four equal parts, and can also be divided into eight equal parts, etc. The magnetic sensing element 9 is used to convert the received magnetic flux signal from the disk 10 into an electrical signal.

[0031] Optionally, the dimensions of the first code disk 6 and the second code disk 12 depend on the structure of the encoder and the volume of the allowable installation space.

[0032] In one embodiment of the encoder of the present invention, the outer diameter of the first code disk 6 of the code disk assembly is 26 mm with a tolerance of ±0.1 mm.

[0033] Specifically, the first magnetic element 3 and the second magnetic element 5 are arranged with their poles facing each other. For example, the N pole of the first magnetic element 3 is arranged towards the second magnetic element 5, and the N pole of the second magnetic element 5 is arranged towards the first magnetic element 3.

[0034] Preferably, there are multiple first magnetic elements 3, which are arranged at intervals around the axis of the rotating shaft; there are multiple first elastic elements 4, which are arranged in a one-to-one correspondence with the multiple first magnetic elements 3.

[0035] Optionally, the number of first magnetic elements 3 and first elastic elements 4 are both four, with the four first magnetic elements 3 arranged at intervals around the axis of rotation, and the four first elastic elements 4 corresponding to the four first magnetic elements 3; or the number of first magnetic elements 3 and first elastic elements 4 are both six, with the six first magnetic elements 3 arranged at intervals around the axis of rotation, and the six first elastic elements 4 corresponding to the six first magnetic elements 3; or the number of first magnetic elements 3 and first elastic elements 4 are both eight, with the eight first magnetic elements 3 arranged at intervals around the axis of rotation, and the eight first elastic elements 4 corresponding to the eight first magnetic elements 3.

[0036] like Figure 1 and Figure 2 As shown, the code disk assembly also includes a sliding bearing 13, which is sleeved outside the bushing 2. The first code disk 6 is sleeved outside the sliding bearing 13, and the second magnetic component 5 is installed on the side of the sliding bearing 13 away from the circuit board 1.

[0037] like Figure 1 and Figure 2 As shown, the bushing 2 includes a bushing body 14, which 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 disk 10 is mounted on the side of the annular flange 16 near the circuit board 1, and the code disk assembly is sleeved on the outside of the cylindrical body 15.

[0038] like Figure 1 and Figure 2 As shown, the bushing 2 also includes an annular sleeve 18 sleeved on the end of the cylindrical body 15 away from the circuit board 1. The first magnetic element 3 is disposed outside the annular sleeve 18, the first elastic element 4 is sandwiched between the first magnetic element 3 and the outer peripheral surface of the annular sleeve 18, and the second elastic element 17 is sandwiched between the annular sleeve 18 and the sliding bearing 13.

[0039] Specifically, the first elastic element 4 is a tension spring, and the second elastic element 17 is a compression spring.

[0040] like Figure 1 and Figure 2 As shown, the encoder includes an annular shell 19, which is sleeved outside the bushing 2. The first elastic element 4 and the first magnetic element 3 are both located between the bushing 2 and the annular shell 19.

[0041] Specifically, the annular shell 19 is made of a magnetically conductive material, and the first elastic element 4 and the first magnetic element 3 are both located between the annular sleeve 18 and the annular shell 19.

[0042] The present invention also provides a motor including the encoder described above.

[0043] The working principle of the encoder of this invention is as follows:

[0044] (1) As Figure 1 As shown, when entering a low speed range (e.g., below 1000 rpm), due to the decrease in centrifugal force, the centrifugal force plus the magnetic attraction force is less than the pulling force of the first magnetic component 3; the first magnetic component 3 is pulled back to its original position by the second elastic component 17; at this time, the first magnetic component 3 and the second magnetic component 5 repel each other, and the repulsive force plus the elastic force of the first elastic component 4 causes the first code disk 6 to move upward along the sliding bearing 13; at this time, the distance between the first code disk 6 and the first photosensitive element 20 decreases, reaching the working range of the first photosensitive element 20, and the first photosensitive element 20 starts to work, sending the light signal and magnetic signal together through the circuit board 1 to the driver for position confirmation, speed confirmation, etc.; because at this time there is a large code disk with high physical precision, namely the light signal of the first code disk 6 and the magnetic signal of the disk 10, dual signal data processing, so the encoder has higher precision at this time; at this time, the machine tool precision machining is based on the high-precision position feedback result to process products with higher precision.

[0045] (2) Figure 2 As shown, when running at high speed, the first magnetic element 3 is subjected to centrifugal force, which stretches the second elastic element 17, causing the first magnetic element 3 to move along the axis away from the rotating shaft and no longer face the second elastic element 17, thus generating a downward magnetic attraction force on the second elastic element 17. Since the centrifugal force plus the magnetic attraction force is greater than the elastic force of the second elastic element 17, the first magnetic element 3 will drive the code disk assembly to move downward and compress the first elastic element 4. At this time, since the distance between the first code disk 6 and the first photosensitive element 20 is far, exceeding the light receiving range of the first photosensitive element 20, the first photosensitive element 20 does not work, and only the magnetic sensing element 9 works to maintain high working accuracy.

[0046] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects:

[0047] The encoder of the present invention includes: a circuit board 1, on which a first photosensitive element 20 is disposed; a bushing 2 for being fitted onto a rotating shaft, wherein a first elastic element 4 and a first magnetic element 3 are sequentially arranged along an axis away from the rotating shaft at the first end of the bushing 2 away from the circuit board 1; a code disk assembly movably fitted onto the bushing 2 along an axis parallel to the rotating shaft, wherein a second magnetic element 5 corresponding to the first magnetic element 3 is disposed on the side of the code disk assembly away from the circuit board 1; a second elastic element 17 is sandwiched between the first end of the bushing 2 and the code disk assembly; a turntable 7 located on the side of the bushing 2 away from the circuit board 1 and spaced apart from the bushing 2, wherein an LED light 8 corresponding to the first photosensitive element 20 is disposed on the side of the turntable 7 near the code disk assembly; wherein a magnetic sensing element 9 is disposed on the circuit board 1, and a magnetic disk 10 corresponding to the magnetic sensing element 9 is disposed at the first end of the bushing 2 near the circuit board 1; or a second photosensitive element 11 is disposed on the circuit board 1, and a second code disk 12 corresponding to the second photosensitive element 11 is disposed at the first end of the bushing 2 near the circuit board 1. In this way, the encoder of the present invention, by setting components such as the first magnetic element 3, the first elastic element 4, the second magnetic element 5, and the second elastic element 17, achieves low-speed, high-precision subdivision compensation of the encoder while ensuring that the motor has a rapid feed capability. This solves the problem that the physical precision of the code disk of the encoder in the prior art is low, which makes it unsuitable for extremely high speed applications, and it lacks the function of automatic compensation of physical precision. It achieves the effect of automatic switching of the large code disk photoelectric encoder for precision compensation at low speeds, thereby improving the precision of the encoder while reducing the development cost of the encoder.

[0048] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0049] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0050] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0051] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0052] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0053] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An encoder, characterized in that, include: Circuit board (1), on which a first photosensitive element (20) is disposed; A bushing (2) is used to be fitted onto a rotating shaft. The first end of the bushing (2) away from the circuit board (1) is equipped with a first elastic element (4) and a first magnetic element (3) arranged sequentially along the axis away from the rotating shaft. The code disk assembly is movably sleeved outside the bushing (2) along an axis parallel to the rotating shaft. The code disk assembly includes a first code disk (6) corresponding to the first photosensitive element (20). A second magnetic element (5) corresponding to the first magnetic element (3) is installed on the side of the code disk assembly away from the circuit board (1). A second elastic element (17) is sandwiched between the first end of the bushing (2) and the code disk assembly. The turntable (7) is located on the side of the bushing (2) away from the circuit board (1) and spaced apart from the bushing (2). An LED light (8) facing the first photosensitive element (20) is provided on the side of the turntable (7) near the code disk assembly. The circuit board (1) is provided with a magnetic sensing element (9), and the first end of the bushing (2) near the circuit board (1) is provided with a disk (10) corresponding to the magnetic sensing element (9); or the circuit board (1) is provided with a second photosensitive element (11), and the first end of the bushing (2) near the circuit board (1) is provided with a second code disk (12) corresponding to the second photosensitive element (11).

2. The encoder according to claim 1, characterized in that, The first magnetic element (3) and the second magnetic element (5) are arranged with their poles facing each other.

3. The encoder according to claim 2, characterized in that, There are multiple first magnetic elements (3), and the multiple first magnetic elements (3) are arranged at intervals around the axis of the rotating shaft; The number of the first elastic element (4) is multiple, and the multiple first elastic elements (4) are arranged in a one-to-one correspondence with the multiple first magnetic elements (3).

4. The encoder according to claim 3, characterized in that, The number of the first magnetic element (3) and the first elastic element (4) are both four. The four first magnetic elements (3) are arranged at intervals around the axis of the rotating shaft, and the four first elastic elements (4) are arranged in a one-to-one correspondence with the four first magnetic elements (3); or The number of the first magnetic element (3) and the first elastic element (4) are both six. The six first magnetic elements (3) are arranged at intervals around the axis of the rotating shaft, and the six first elastic elements (4) are arranged in a one-to-one correspondence with the six first magnetic elements (3); or The number of the first magnetic element (3) and the first elastic element (4) are both eight. The eight first magnetic elements (3) are arranged at intervals around the axis of the rotating shaft. The eight first elastic elements (4) are arranged in a one-to-one correspondence with the eight first magnetic elements (3).

5. The encoder according to claim 1, characterized in that, The code disk assembly also includes a sliding bearing (13), which is sleeved outside the bushing (2), the first code disk (6) is sleeved outside the sliding bearing (13), and the second magnetic element (5) is installed 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 bushing (2) includes a bushing body (14), which includes a cylindrical body (15) and an annular flange (16) disposed on one end of the cylindrical body (15) near the circuit board (1). The disk (10) is mounted on the side of the annular flange (16) near the circuit board (1), and the code disk assembly is sleeved on the outside of the cylindrical body (15).

7. The encoder according to claim 6, characterized in that, The bushing (2) also includes an annular sleeve (18) sleeved on the end of the cylindrical body (15) away from the circuit board (1), the first magnetic element (3) is disposed outside the annular sleeve (18), the first elastic element (4) is sandwiched between the first magnetic element (3) and the outer peripheral surface of the annular sleeve (18), and the second elastic element (17) is sandwiched between the annular sleeve (18) and the sliding bearing (13).

8. The encoder according to claim 1, characterized in that, The encoder includes an annular shell (19), which is sleeved outside the bushing (2). The first elastic element (4) and the first magnetic element (3) are both located between the bushing (2) and the annular shell (19).

9. The encoder according to claim 8, characterized in that, The annular shell (19) is made of a magnetically conductive material.

10. An electric motor, characterized in that, The encoder included in any one of claims 1 to 9.

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