Encoder module, drive structure and robot

Abstract

The present application provides an encoder module, a drive structure and a robot, wherein the encoder module includes: an encoder, a support member and a connecting assembly; the outer side of the support member is connected to a fixing device, and the inner side of the support member is sleeved on a rotating shaft; the outer side of the connecting assembly is fixedly connected to the encoder, and the inner side of the connecting assembly is fixedly connected to the rotating shaft; the connecting assembly is configured to connect the rotating shaft and the encoder and balance the radial runout of the rotating shaft. The present application connects the rotating shaft to the encoder through the connecting assembly of the encoder module, and when the rotating shaft rotates, the fixing device can limit the position of the rotating shaft in the rotation direction, thereby reducing the runout of the rotating shaft during rotation, and can improve the detection accuracy of the encoder.

Description

Technical Field

[0001] The present application relates to the field of robots, and more specifically, to an encoder module, a drive structure and a robot. Background Art

[0002] An encoder is a device that converts angular displacement into an electrical signal and can be used to detect the rotational speed of a rotating shaft. At present, the encoder's code disk is usually fixed to one end of the rotating shaft. During the rotation of the shaft, as the reducer wears, the shaft will jump, which will cause the relative position of the code disk and the detection device to change, thus affecting the detection accuracy of the encoder. Summary of the invention

[0003] In view of this, the purpose of the embodiments of the present application is to provide an encoder module, a drive structure and a robot, which can improve the detection accuracy of the encoder.

[0004] In the first aspect, an embodiment of the present application provides an encoder module, comprising: an encoder, a support member and a connecting assembly; the outer side of the support member is connected to a fixing device, and the inner side of the support member is sleeved on a rotating shaft; the outer side of the connecting assembly is fixedly connected to the encoder, and the inner side of the connecting assembly is fixedly connected to the rotating shaft; wherein the connecting assembly is configured to connect the rotating shaft and the encoder and balance the radial runout of the rotating shaft.

[0005] In the above implementation process, a connecting component is set in the encoder module, and the rotating shaft is connected to the encoder through the connecting component, so that the radial runout of the rotating shaft can be compensated by the connecting component when the rotating shaft rotates, thereby reducing the runout of the rotating shaft during rotation, thereby ensuring that the relative position of the encoder does not change, and improving the accuracy of the encoder module detection.

[0006] In one embodiment, the connecting assembly includes: an elastic member; one side of the elastic member is fixedly connected to the encoder, and the other side of the elastic member is fixedly connected to the rotating shaft; wherein the elastic member is configured to connect the rotating shaft and the encoder and compensate for radial runout of the rotating shaft.

[0007] In the above implementation process, by providing an elastic member and connecting the elastic member to the rotating shaft, the rotating shaft transmits the jumping torque generated by the rotating shaft to the elastic member when rotating, and the elastic member deforms under the action of the torque to achieve the transfer of the jumping torque generated by the rotating shaft, thereby achieving compensation for the jumping of the rotating shaft. This prevents the encoder from colliding with the rotating shaft due to the jumping of the rotating shaft, thereby affecting the quality of the rotating shaft and the encoder, and prolongs the service life of the rotating shaft and the encoder.

[0008] In one embodiment, the connecting assembly includes: a fixing member and an elastic member; the fixing member is fixedly connected to the rotating shaft; the elastic member is arranged on one side of the fixing member and connected to one side of the fixing member; the other side of the fixing member is fixedly connected to the encoder; wherein the elastic member is configured to compensate for the radial runout of the rotating shaft.

[0009] In one embodiment, the fixing member includes: a first fixing member and a second fixing member; the first fixing member and the second fixing member are arranged opposite to each other, and the elastic member is arranged between the first fixing member and the second fixing member; the first fixing member is fixedly connected to the rotating shaft at a side away from the elastic member; the second fixing member is fixedly connected to the encoder at one end at a side away from the elastic member; wherein the elastic member is configured to compensate for radial runout of the rotating shaft.

[0010] In the above implementation process, the first fixing member, the second fixing member and the elastic member are arranged, and the elastic member is arranged between the first fixing member and the second fixing member, so as to be connected to the encoder and the rotating shaft through the first fixing member and the second fixing member. Since the first fixing member and the second fixing member are rigid elements, the stability of the connection with the encoder and the rotating shaft can be ensured, and the stability of the connection between the encoder and the rotating shaft is improved. In addition, the structure formed by the relative arrangement of the first fixing member, the second fixing member and the elastic member is a flexible claw-type connection, which can be convenient for disassembly and assembly.

[0011] In one embodiment, the encoder further includes: a code disc and a fixed seat; the fixed seat is arranged between the support member and the connecting assembly, and the fixed seat is fixedly connected to the second fixing member; one end of the code disc is arranged on the fixed seat; the other end of the code disc passes through the encoder; wherein, the code disc is configured to rotate through the connecting assembly when the rotating shaft rotates, and the encoder is configured to determine the rotation speed of the rotating shaft by obtaining the position of the code disc.

[0012] In the above implementation process, a code disc is set and connected to the connecting assembly through a fixed seat, so that the code disc can rotate with the rotation of the shaft, thereby realizing the counting of the rotation speed of the shaft. Since the code disc rotates with the shaft, it can truly reflect the rotation speed of the shaft, thereby improving the detection accuracy of the encoder.

[0013] In one embodiment, the encoder further includes: the encoder further includes: a seal; the seal is disposed between the connecting component and the rotating shaft and is configured to isolate the environment inside the encoder module from the environment outside the encoder module.

[0014] In the above implementation process, by setting a seal between the connecting assembly and the rotating shaft, the inside of the encoder module and the outside of the encoder module can be isolated into two independent and closed spaces, so that grease or dust between the two spaces will not affect each other, thereby ensuring that the internal space of the encoder module is dry and clean.

[0015] In one embodiment, there are multiple seals; the multiple seals are respectively arranged at the connection points of the various components of the encoder module and at the through holes of the various components of the encoder module, and are configured to isolate the environment between the various components of the encoder module.

[0016] In the above implementation process, by setting seals at the connections of the various components of the encoder module, the environments between the various components of the encoder module can be isolated from each other, so that grease or dust between the various components of the encoder module will not affect each other, thereby ensuring that the various components of the encoder module are dry and clean.

[0017] In the second aspect, an embodiment of the present application also provides a driving structure, comprising: a motor, a rotating shaft and an encoder module as described in any one of the first aspects; the rotating shaft is connected to the motor and is configured to rotate under the drive of the motor; one end of the rotating shaft is fixedly connected to the encoder module, and the encoder module is configured to detect the rotational speed of the rotating shaft.

[0018] In the above implementation process, by setting the above-mentioned encoder module on the rotating shaft, the rotating shaft can be connected to the fixing device through the encoder module, so as to limit the position of the rotation in the rotation direction through the fixing device, thereby reducing the jitter of the rotating shaft, thereby preventing the relative position of the code disk of the encoder module and the detection device from changing, and improving the detection accuracy of the encoder module.

[0019] In one embodiment, the rotating shaft includes: a first rotating shaft and a second rotating shaft, and the encoder module includes a first encoder and a second encoder; the first encoder is fixedly connected to one end of the first rotating shaft, and the first encoder is configured to detect the rotational speed of the first rotating shaft; the second encoder is fixedly connected to one end of the second rotating shaft, and the second encoder is configured to detect the rotational speed of the second rotating shaft.

[0020] In the above implementation process, for a driving structure with multiple rotating shafts, each rotating shaft can be provided with a corresponding encoder to detect the rotation speed of different rotating shafts respectively, which can timely respond to abnormal rotation speed of each rotating shaft and ensure the accuracy of the driving structure.

[0021] In a third aspect, an embodiment of the present application further provides a robot, comprising: a controller and a driving structure according to any one of the second aspects connected to the controller; wherein the controller is configured to control the driving structure to work.

[0022] In the above implementation process, a driving structure equipped with the above-mentioned encoder module is set in the robot. Since the encoder module can accurately feedback the rotational speed of the rotating shaft, the controller can accurately determine the current working state of the driving structure by obtaining these relatively accurate rotational speeds, and then control the driving structure to perform the next action according to the actual situation, thereby ensuring the precise control of the controller and improving the accuracy of the robot's work.

[0023] In order to make the above-mentioned objects, features and advantages of the present application more obvious and understandable, embodiments are given below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A three-dimensional schematic diagram of an encoder module provided in an embodiment of the present application;

[0026] Figure 2 The encoder module provided in the embodiment of the present application is extended Figure 1 Three-dimensional cross-section of the plane where the middle dashed line is located;

[0027] Figure 3 The encoder module provided in the embodiment of the present application is extended Figure 1 The cross-section view is in the plane where the dashed line is located;

[0028] Figure 4 An exploded view of the components sleeved on the rotating shaft provided in the embodiment of the present application;

[0029] Figure 5 A three-dimensional cross-sectional view of the driving structure provided in an embodiment of the present application;

[0030] Figure 6 A three-dimensional schematic diagram of a robot provided in an embodiment of the present application.

[0031] Figure markings: driving structure-10, encoder module-100, supporting member-110, rotating part-111, fixing part-112, connecting assembly-120, elastic member-121, first fixing member-122, second fixing member-123, encoder-130, code disc-140, sealing member-150, end cover-160, fixing seat-170, rotating shaft-200. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings in the embodiments of the present application.

[0033] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments 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.

[0035] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0036] In the description of the present application, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are orientations or positional relationships that are commonly visited when the application product is used. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be interpreted as a limitation of the present application.

[0037] In the description of this application, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting", "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0038] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0039] In the field of automated precision production, the stability of motor speed has a great impact on quality, so it is necessary to test the stability of motor speed. For example, joint drive modules composed of servo motors, reducers, encoders, etc. are widely used in industrial robots, legged robots, collaborative robots and other fields. These application fields also put forward higher requirements on the control accuracy and integration of joint drive modules. In conventional rotary joints, an encoder is installed on the shaft to detect the speed and position information of the shaft and motor, thereby achieving closed-loop control. However, due to reasons such as the quality of the shaft or the wear of the reducer, the shaft may jump when rotating, and then the relative position of the detection device in the encoder changes, which affects the detection accuracy of the encoder.

[0040] In view of this, the inventor of the present application proposes an encoder module, which connects a rotating shaft and a fixing device through a connecting component, so that when the rotating shaft rotates, the fixing device can limit the position of the rotating shaft in the rotation direction, thereby reducing the vibration of the rotating shaft, preventing the relative position of the detection device in the encoder from changing, and improving the detection accuracy of the encoder.

[0041] like Figure 1 , Figure 2 and Figure 3 As shown, Figure 1 A three-dimensional schematic diagram of an encoder module 100 provided in an embodiment of the present application is shown; Figure 2 and Figure 3 The encoder module 100 is shown respectively. Figure 1 The three-dimensional section view and the plane section view of the plane where the dotted line is located. For the sake of clarity, Figure 2 and Figure 3 Only the encoder module 100 is shown in the figure, and the rotating shaft 200 is omitted. As shown in the figure, the encoder module 100 includes: a support member 110, a connecting component 120 and an encoder 130.

[0042] The outer side of the support member 110 is connected to the fixing device, and the inner side of the support member 110 is sleeved on the rotating shaft; the outer side of the connecting component 120 is fixedly connected to the encoder 130, and the inner side of the connecting component 120 is fixedly connected to the rotating shaft. The connecting component 120 is configured to connect the rotating shaft and the encoder 130 and balance the radial runout of the rotating shaft.

[0043] The rotating shaft here is configured to rotate under the drive of the power mechanism, and the fixing device is configured to limit the position of the rotating shaft on the rotating plane.

[0044] It can be understood that the fixing device is a device for fixing the rotating shaft on the rotating plane. For example, the fixing device can be a housing of the driving structure where the encoder module 100 is located, a specific fixing device in the driving structure where the encoder module 100 is located, a specific fixing member in the driving structure where the encoder module 100 is located, or other rotating devices in the driving structure where the encoder module 100 is located.

[0045] Optionally, the support member 110 here can be a bearing, a sleeve, a bushing, a bearing shell, etc. The support member 110 can be provided with 1, 2, 3, 5, 10, etc. The device type and the number of the support member 110 can be adjusted according to actual conditions, and this application does not impose specific restrictions.

[0046] The connection assembly 120 here can be an integrated structure or a detachable structure. The connection assembly 120 can be a purely rigid structure, a purely elastic structure, or a rigid and elastic combination structure. When the connection assembly 120 is a purely rigid structure, the connection assembly 120 cannot compensate for the vibration of the rotating shaft. When the connection assembly 120 is a purely elastic structure or a rigid and elastic combination structure, the connection assembly 120 can compensate for the vibration of the rotating shaft.

[0047] The encoder 130 mentioned above is a photoelectric encoder, a magnetic encoder, etc. The device type of the encoder 130 can be adjusted according to actual conditions, and this application does not impose any specific restrictions.

[0048] In the above implementation process, a connecting component is set in the encoder module, and the rotating shaft is connected to the encoder through the connecting component, so that the radial runout of the rotating shaft can be compensated by the connecting component when the rotating shaft rotates, thereby reducing the runout of the rotating shaft during rotation, thereby ensuring that the relative position of the encoder does not change, and improving the accuracy of the encoder module detection.

[0049] In a possible implementation, the connection assembly 120 includes: an elastic member 121 .

[0050] One side of the elastic member 121 is fixedly connected to the encoder 130 , and the other side of the elastic member 121 is fixedly connected to the rotating shaft; the elastic member 121 is configured to connect the rotating shaft and the encoder 130 and compensate for the radial runout of the rotating shaft.

[0051] The number of the elastic member 121 here is one or more, and the elastic member 121 is configured to compensate for the vibration of the rotating shaft. The elastic member 121 can be rubber, spring, nylon, sponge, etc. The type and number of the elastic member 121 can be adjusted according to actual conditions, and this application does not make specific restrictions.

[0052] It is understandable that the rotating shaft may bounce due to the wear of the reducer when rotating. Since the support 1100 connects the rotating shaft and the fixing device, the fixing device will generate a reaction force opposite to the bounce when the rotating shaft bounces to suppress the bounce of the rotating shaft. However, the rotating shaft is easily damaged under the impact of the two forces for a long time. By setting the elastic member 121, the rotating shaft can transfer the force to the elastic member 121, and the elastic member 121 is deformed under the action of the force to compensate for the bounce of the rotating shaft.

[0053] In the above implementation process, by providing an elastic member and connecting the elastic member to the rotating shaft, the rotating shaft transmits the jumping torque generated by the rotating shaft to the elastic member when rotating, and the elastic member deforms under the action of the torque to achieve the transfer of the jumping torque generated by the rotating shaft, thereby achieving compensation for the jumping of the rotating shaft. This prevents the encoder from colliding with the rotating shaft due to the jumping of the rotating shaft, thereby affecting the quality of the rotating shaft and the encoder, and prolongs the service life of the rotating shaft and the encoder.

[0054] In one possible implementation, the connecting assembly includes: a fixing member and an elastic member 121; the fixing member is fixedly connected to the rotating shaft; the elastic member 121 is arranged on one side of the fixing member and connected to one side of the fixing member; the other side of the fixing member is fixedly connected to the encoder 130; the elastic member 121 is configured to compensate for the radial runout of the rotating shaft.

[0055] In some implementations, the elastic member 121 is disposed in the inner groove of the fixing member, that is, the elastic member 121 is wrapped by the fixing member. The fixing member and the elastic member 121 can be connected by clamping, screws or bolts, etc.

[0056] In a possible implementation, the connection assembly 120 includes: a first fixing member 122 , a second fixing member 123 and an elastic member 121 .

[0057] Among them, the first fixing member 122 and the second fixing member 123 are arranged opposite to each other, and the elastic member 121 is arranged between the first fixing member 122 and the second fixing member 123; the first fixing member 122 is fixedly connected to the rotating shaft on the side away from the elastic member 121; the second fixing member 123 is fixedly connected to the encoder 130 on one end of the side away from the elastic member 121; the elastic member 121 is configured to compensate for the radial runout of the rotating shaft.

[0058] Here, the number of the first fixing member 122, the second fixing member 123 and the elastic member 121 is one or more, and the elastic member 121 is configured to compensate for the radial runout of the rotating shaft. The first fixing member 122, the second fixing member 123 and the elastic member 121 are configured in combination, and one elastic member 121 corresponds to one first fixing member 122 and one second fixing member 123 respectively. That is, the first fixing member 122 is connected to the elastic member 121, and the elastic member 121 is connected to the second fixing member 123. In some implementations, the first fixing member 122 and the second fixing member 123 are connected, and the elastic member 121 is arranged in the gap between the first fixing member 122 and the second fixing member 123, that is, the elastic member 121 is wrapped by the first fixing member 122 and the second fixing member 123. The first fixing member 122 and the second fixing member 123 can be connected by clamping, screws or bolts, etc.

[0059] Optionally, the first fixing member 122 and the second fixing member 123 may be fixedly connected or integrally formed.

[0060] For example, Figure 4 As shown, a first protrusion is disposed on one end of the first fixing member 122 close to the elastic member 121 , second protrusions are disposed around the elastic member 121 , and a third protrusion is disposed on one end of the second fixing member 123 close to the elastic member 121 .

[0061] In such Figure 4 In the illustrated embodiment, four second protrusions are arranged around the elastic member 121, and a groove is formed between every two protrusions, forming a total of four grooves. Two first protrusions are arranged on one end of the first fixing member 122 close to the elastic member 121, and the two first protrusions are arranged opposite to each other. Two third protrusions are arranged on one end of the second fixing member 123 close to the elastic member 121, and the two third protrusions are arranged opposite to each other. The first protrusion and the third protrusion are respectively arranged in the groove of the elastic member 121 to claw-connect the first fixing member 122, the elastic member 121 and the second fixing member 123. The inner sides of the first fixing member 122, the elastic member 121 and the second fixing member 123 after the claw-connection are sleeved on the rotating shaft and fixedly connected to the rotating shaft.

[0062] Optionally, the number of the first protrusion, the second protrusion and the third protrusion can be adjusted according to actual conditions. The above is only exemplary and the present application does not impose any specific limitation.

[0063] like Figure 4 As shown, the end of the first fixing member 122 away from the elastic member 121 is also provided with a plurality of through holes, through which the first fixing member 122, the elastic member 121 and the second fixing member 123 are fixedly connected to the rotating shaft. The fixed connection method may be bolt connection, screw connection, etc.

[0064] In some embodiments, the encoder module 100 includes a plurality of elastic members 121, some of which are combined with the first fixing member 122 and the second fixing member 123, and another portion of the elastic members 121 is separately provided. The arrangement, number of arrangements, connection methods, etc. of the first fixing member 122, the elastic member 121, and the second fixing member 123 of the present application can be adjusted according to actual conditions, and the present application does not impose specific restrictions.

[0065] In the above implementation process, the first fixing member, the second fixing member and the elastic member are arranged, and the elastic member is arranged between the first fixing member and the second fixing member, so as to be connected to the encoder and the rotating shaft through the first fixing member and the second fixing member. Since the first fixing member and the second fixing member are rigid elements, the stability of the connection with the encoder and the rotating shaft can be ensured, and the stability of the connection between the encoder and the rotating shaft is improved. In addition, the structure formed by the relative arrangement of the first fixing member, the second fixing member and the elastic member is a flexible claw-type connection, which can be convenient for disassembly and assembly.

[0066] In a possible implementation, the support member 110 includes a fixing portion 112 and a rotating portion 111 .

[0067] The inner side of the rotating part 111 is sleeved on the rotating shaft; the outer side of the rotating part 111 is movably connected to the inner side of the fixing part 112 and is configured to rotate on the inner side of the fixing part 112 when the rotating shaft rotates.

[0068] The rotating part 111 here is annular, and the fixed part 112 can be any shape such as annular, rectangular, cylindrical or irregular. It can be understood that no matter what shape the fixed part 112 is, an arc that matches the rotation trajectory of the rotating part 111 needs to be set inside the fixed part 112 to ensure that the rotating part 111 can rotate inside the fixed part 112 through the connecting assembly 120.

[0069] In the above implementation process, the support member is configured as a fixed portion and a rotating portion. The fixed portion is used to cooperate with the fixing device to limit the position of the rotating shaft in the rotation direction. The rotating portion is used to ensure that the code disk of the encoder can rotate with the rotating shaft. The support member can ensure that the encoder can detect the rotation speed of the rotating shaft while limiting the position of the rotating shaft in the rotation direction, thereby reducing the shaking of the rotating shaft, thereby preventing the relative position of the encoder code disk and the detection device from changing, and improving the detection accuracy of the encoder.

[0070] In a possible implementation, the encoder module 100 further includes: a code disc 140 and a fixing seat 170 .

[0071] Among them, the fixed seat 170 is arranged between the support member 110 and the connecting component 120, and the fixed seat 170 is fixedly connected to the second fixing member 123; one end of the code disk 140 is arranged on the fixed seat 170; the other end of the code disk 140 passes through the encoder 130; the code disk 140 is configured to rotate through the connecting component 120 when the shaft rotates, and the encoder 130 is configured to determine the rotation speed of the shaft by obtaining the position of the code disk 140.

[0072] Here, the code disc 140 is configured to rotate through the connecting assembly 120 when the shaft rotates, and the encoder 130 is configured to determine the rotation speed of the shaft by acquiring the position of the code disc 140 .

[0073] It can be understood that the encoder 130 is provided with a code disc 140 position monitoring device corresponding to the code disc 140, and the position monitoring device is used to monitor the number of times the code disc 140 passes, and then determine the number of rotations of the code disc 140. The encoder 130 can determine the number of rotations of the shaft according to the number of rotations of the code disc 140, and then derive the rotation speed of the shaft.

[0074] Optionally, the code disk 140 position monitoring device may be a position sensor, a laser transmitter, etc.

[0075] In the above implementation process, a code disc is set and connected to the connecting assembly through a fixed seat, so that the code disc can rotate with the rotation of the shaft, thereby realizing the counting of the rotation speed of the shaft. Since the code disc rotates with the shaft, it can truly reflect the rotation speed of the shaft, thereby improving the detection accuracy of the encoder.

[0076] In a possible implementation, the encoder module 100 further includes: a seal 150 .

[0077] The seal 150 is disposed between the connecting assembly 120 and the rotating shaft, and is configured to isolate the environment inside the encoder module 100 from the environment outside the encoder module 100 .

[0078] It is understandable that when the encoder module 100 is connected to the rotating shaft, the two devices cannot fit completely due to reasons such as shape, size, and quality. Therefore, there will be a certain gap at the connection between the encoder module 100 and the rotating shaft. By providing a seal 150 at the gap, the interior of the encoder module 100 can be isolated from the environment outside the encoder module 100, thereby ensuring that the internal environment of the encoder module 100 is dry and clean.

[0079] Optionally, the seal 150 may be rubber, nylon, etc. The number of the seal 150 may be one or more, such as 1, 3, 5, etc. The type and number of the seal 150 may be adjusted according to actual conditions, and this application does not impose any specific restrictions.

[0080] In the above implementation process, by setting a seal between the connecting assembly and the rotating shaft, the inside of the encoder module and the outside of the encoder module can be isolated into two independent and closed spaces, so that grease or dust between the two spaces will not affect each other, thereby ensuring that the internal space of the encoder module is dry and clean.

[0081] In a possible implementation, there are multiple sealing members 150 .

[0082] The plurality of seals 150 are respectively disposed at the connection points of the components of the encoder module 100 and at the through holes of the components of the encoder module 100 , and are configured to isolate the environment between the components of the encoder module 100 .

[0083] It can be understood that at the connection points of the various components of the encoder module 100, the various components cannot fit completely when in contact due to reasons such as shape, size, and quality. Therefore, there will be certain gaps at the connection points of the various components. By providing a seal 150 at the gap, the environment between the various components can be isolated, thereby preventing the environments of the various components of the encoder module 100 from affecting each other, and ensuring that the internal environment of each component is dry and clean.

[0084] For example, at the contact point between the connecting component 120 and the supporting member 110, due to the different structures of the connecting component 120 and the supporting member 110, a gap may exist between the two when they are connected. By providing a seal 150 between the connecting component 120 and the supporting member 110, the gap can be filled, which not only can isolate the supporting member 110 from the connecting component 120, but also can isolate the environment of the device above the seal 150 and the device below the seal 150 from each other.

[0085] There are some components with through holes inside the encoder module 100 here. The through holes of some components have no effect in the driving structure. By setting a seal 150 at the through hole, the internal environment of the component with the through hole can be isolated from the external environment, thereby preventing the external environment of the component from affecting the internal environment of the component and ensuring that the internal environment of the component is dry and clean.

[0086] For example, the encoder module 100 is provided with an end cover 160 on the outside, and the end cover 160 is an end shell of the encoder module 100. The end cover 160 is provided with a through hole, and the internal environment of the encoder module 100 can be isolated from the external environment by providing a seal 150 at the through hole, thereby ensuring that the internal environment of the encoder module 100 is dry and clean.

[0087] In the above implementation process, by setting seals at the connections of the various components of the encoder module, the environments between the various components of the encoder module can be isolated from each other, so that grease or dust between the various components of the encoder module will not affect each other, thereby ensuring that the various components of the encoder module are dry and clean.

[0088] See also Figure 5 , is a three-dimensional cross-sectional view of a driving structure provided in an embodiment of the present application. The driving structure includes: a motor, a rotating shaft 200 and an encoder module 100 .

[0089] The rotating shaft 200 is connected to the motor and configured to rotate under the drive of the motor; one end of the rotating shaft 200 is fixedly connected to the encoder module 100 , and the encoder module 100 is configured to detect the rotation speed of the rotating shaft 200 .

[0090] Optionally, the motor may be a framed motor, a frameless motor, etc. The selection of the motor in this embodiment may be adjusted according to actual conditions, and this application does not impose any specific limitation.

[0091] It can be understood that the shaft 200 rotates under the drive of the motor, and drives the encoder 130 of the encoder module 100 to rotate, so as to count the number of rotations of the shaft 200 and further determine the rotation speed of the shaft 200 .

[0092] Optionally, the driving structure disclosed in the embodiment of the present application can be used for, but not limited to, transportation equipment, power equipment, robots, gripping equipment, etc. The driving structure can be used as a power structure of the above equipment, or as a joint structure. The specific role of the power structure in the above equipment can be adjusted according to actual conditions, and this application does not make specific restrictions.

[0093] In the above implementation process, the encoder module is set on the rotating shaft and the position of the rotation in the rotation direction is limited by a fixing device, thereby reducing the jitter of the rotating shaft, thereby preventing the relative position of the encoder's code disk and the detection device from changing, and improving the detection accuracy of the encoder.

[0094] In a possible implementation, the rotating shaft 200 includes: a first rotating shaft and a second rotating shaft, and the encoder module 100 includes a first encoder and a second encoder.

[0095] The first encoder is fixedly connected to one end of the first rotating shaft, and is configured to detect the rotation speed of the first rotating shaft; the second encoder is fixedly connected to one end of the second rotating shaft, and is configured to detect the rotation speed of the second rotating shaft.

[0096] In some embodiments, the input end of the first rotating shaft is connected to the motor and configured to rotate under the drive of the motor; one end of the second rotating shaft is connected to the first rotating shaft and configured to rotate at a speed lower than or higher than that of the first rotating shaft.

[0097] A transmission member is further provided between the first rotating shaft and the second rotating shaft. The input end of the transmission member is connected to the output end of the first rotating shaft; the output end of the transmission member is connected to the input end of the second rotating shaft, and the transmission member is configured to reduce or increase the rotation speed of the first rotating shaft, and transmit the reduced or increased rotation speed to the second rotating shaft, so that the second rotating shaft rotates at a lower or higher rotation speed than the first rotating shaft.

[0098] The transmission part here can be a transmission such as an accelerator or a reducer for adjusting the rotation speed of the shaft, and the transmission part includes a flexible wheel, a torque sensor, a wave generator, etc. The transmission part can be a harmonic reducer, an RV reducer, a gear reducer, etc. The type and structure of the transmission part can be selected according to actual conditions, and this application does not make specific restrictions.

[0099] The first encoder here can be set at any position of the first rotating shaft. For example, the first encoder can be set at the end where the first rotating shaft is connected to the second rotating shaft, can be set at the end away from the second rotating shaft, can also be set at the middle position of the first rotating shaft, etc. The specific setting position of the first encoder on the first rotating shaft can be adjusted according to actual conditions, and this application does not impose specific restrictions.

[0100] The second encoder here can be set at any position of the second rotating shaft. For example, the second encoder can be set at the end where the second rotating shaft is connected to the first rotating shaft, can be set at the end away from the first rotating shaft, can also be set at the middle position of the second rotating shaft, etc. The specific setting position of the second encoder on the second rotating shaft can be adjusted according to actual conditions, and this application does not impose specific restrictions.

[0101] Optionally, the first encoder on the first rotating shaft and the second encoder on the second rotating shaft can be the same device or different devices. The first encoder and the second encoder can be adjusted according to the type, rotation speed, function, etc. of the first rotating shaft or the second rotating shaft, and this application does not make specific restrictions.

[0102] In the above implementation process, for a driving structure with multiple rotating shafts, each rotating shaft can be provided with a corresponding encoder to detect the rotation speed of different rotating shafts respectively, which can timely respond to abnormal rotation speed of each rotating shaft and ensure the accuracy of the driving structure.

[0103] See also Figure 6 , is a three-dimensional schematic diagram of a robot provided in an embodiment of the present application. The robot comprises: a controller and a driving structure 10 connected to the controller.

[0104] The controller is configured to control the driving structure 10 to work.

[0105] The controller here is connected to one or more local terminals through a network for data communication or interaction. The controller can be a network controller, a database controller, a personal computer (PC), a tablet computer, a smart phone, a personal digital assistant (PDA), etc. The controller can also be a single-chip microcomputer, a programmable controller, etc.

[0106] It can be understood that the controller can be set inside the driving structure 10, or can be set separately from the driving structure 10. The settings of the controller and the driving structure 10 can be adjusted according to actual conditions, and this application does not impose specific limitations.

[0107] One or more drive structures 10 ( Figure 5 The number of drive structures 10 in the robot can be adjusted according to actual conditions, and this application does not make specific restrictions. The robot can be a multi-joint robot, a loading and unloading robot, a canning robot, etc.

[0108] In the above implementation process, a driving structure equipped with the above encoder is set in the robot. Since the encoder can accurately feedback the rotational speed of the rotating shaft, the controller can accurately determine the current working state of the driving structure by obtaining these relatively accurate rotational speeds, and then control the driving structure to perform the next action according to the actual situation, thereby ensuring the precise control of the controller and improving the accuracy of the robot's work.

[0109] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations.

[0110] Any modification, equivalent substitution, improvement, etc. made within the scope of protection of this application shall be included in the scope of protection of this application. It should be noted that similar numbers and letters represent similar items in the following drawings.

[0111] Therefore, once an item is defined in one drawing, it does not require further definition and explanation in subsequent drawings.

[0112] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto.

[0113] Any person skilled in the art can easily think of any changes or substitutions within the technical scope disclosed in this application, which should be included in the protection scope of this application. Therefore, the protection scope of this application should be based on the protection scope of the claims.

Claims

1. An encoder module, characterized in that: include: Encoders, supports and connecting components; The outer side of the support member is connected to the fixing device, and the inner side of the support member is sleeved on the rotating shaft; The outer side of the connecting component is fixedly connected to the encoder, and the inner side of the connecting component is fixedly connected to the rotating shaft; Wherein, the connecting assembly is configured to connect the rotating shaft and the encoder and balance the radial runout of the rotating shaft; The connecting assembly comprises: an elastic member; One side of the elastic member is fixedly connected to the encoder, and the other side of the elastic member is fixedly connected to the rotating shaft; Wherein, the elastic member is configured to connect the rotating shaft and the encoder and compensate for the radial runout of the rotating shaft; The connecting assembly comprises: a fixing member and an elastic member; The fixing member is fixedly connected to the rotating shaft; The elastic member is arranged on one side of the fixing member and connected to one side of the fixing member; The other side of the fixing member is fixedly connected to the encoder; Wherein, the elastic member is configured to compensate for the radial runout of the rotating shaft; The fixing member comprises: a first fixing member and a second fixing member; The first fixing member and the second fixing member are arranged opposite to each other, and the elastic member is arranged between the first fixing member and the second fixing member; A side of the first fixing member away from the elastic member is fixedly connected to the rotating shaft; The encoder is fixedly connected to one end of the second fixing member away from the elastic member; the first fixing member, the elastic member and the second fixing member are claw-connected; Wherein, the elastic member is configured to compensate for the radial runout of the rotating shaft.

2. The encoder module according to claim 1, characterized in that: The encoder also includes: a code disc and a fixing seat; The fixing seat is arranged between the supporting member and the connecting assembly, and the fixing seat is fixedly connected to the second fixing member; One end of the code disc is arranged on the fixing seat; The other end of the code disc penetrates into the encoder; Wherein, the code disc is configured to rotate through the connecting assembly when the rotating shaft rotates, and the encoder is configured to determine the rotation speed of the rotating shaft by acquiring the position of the code disc.

3. The encoder module according to claim 1, characterized in that: The encoder further comprises: a sealing member; The sealing member is disposed between the connecting assembly and the rotating shaft, and is configured to isolate the environment inside the encoder module from the environment outside the encoder module.

4. The encoder module according to claim 3, characterized in that: The number of the sealing members is multiple; The plurality of seals are respectively arranged at the connection points of the components of the encoder module and at the through holes of the components of the encoder module, and are configured to isolate the environment between the components of the encoder module.

5. A driving structure, characterized in that: include: A motor, a rotating shaft and an encoder module according to any one of claims 1 to 4; The rotating shaft is connected to the motor and is configured to rotate under the drive of the motor; One end of the rotating shaft is fixedly connected to the encoder module, and the encoder module is configured to detect the rotation speed of the rotating shaft.

6. The driving structure according to claim 5, characterized in that: The rotating shaft comprises: a first rotating shaft and a second rotating shaft, and the encoder module comprises a first encoder and a second encoder; The first encoder is fixedly connected to one end of the first rotating shaft, and the first encoder is configured to detect the rotation speed of the first rotating shaft; The second encoder is fixedly connected to one end of the second rotating shaft, and the second encoder is configured to detect the rotation speed of the second rotating shaft.

7. A robot, characterized in that: include: A controller and a driving structure according to claim 5 or 6 connected to the controller; Wherein, the controller is configured to control the driving structure to work.

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