Encoder, joint module and robot

Abstract

The invention discloses an encoder, a joint module and a robot, and the encoder comprises a housing which is provided with a mounting cavity; the first code disc supporting piece is arranged in the mounting cavity; the device shell is connected with the first coded disc supporting piece through the first bearing; the second code disc supporting piece is arranged in the mounting cavity; the first code disc supporting piece and the second code disc supporting piece are connected through the second bearing; and the second coded disc supporting piece is connected with the device shell through the third bearing. According to the encoder, the plurality of bearings are arranged in the encoder, so that the friction force among all parts can be effectively reduced, dust is difficult to influence the rotation of the first code disc supporting piece and the second code disc supporting piece, the rotation stability of the code discs on the first code disc supporting piece and the second code disc supporting piece is improved, and the stable operation of the encoder is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an encoder, a joint module and a robot. Background Art

[0002] The joint module is generally composed of a reducer, a motor, a brake, an encoder and a driver. The encoder includes an input encoder and an output encoder. The input code disk of the input encoder is connected to the motor shaft, and the output code disk of the output encoder is connected to the hollow shaft at the output end of the reducer, so that the high speed of the motor end is reduced by the reducer and output at a low speed by the hollow shaft. The output encoder collects information such as the speed and position of the output shaft and feeds it back to the drive system. The control accuracy and performance of the joint module can be further improved through the control of the driver, control system, and input encoder. The input encoder and output encoder can use photoelectric encoders. The code disk of the photoelectric encoder can also be called a grating. The surface of the grating close to the encoder reader contains multiple grating lines. The surface of the reflective grating has the performance of reflecting light. The encoder reader can identify the rotation angle of the grating by reading the information of the reflected light.

[0003] The joint module of the intelligent robot is its core component, which has the characteristics of simple structure, low noise and high transmission efficiency. The encoder in the traditional technology is assembled in an open space. For example, in the patent CN108247668A, the input encoder and the joint output encoder are typical split structures. The dust generated by the brake and reducer and other components can easily enter and pollute the encoder's code disc support and code disc. Because during the operation of the joint module, the rotation of the joint will generate dust inside the joint, which can easily spread to various parts of the joint module under air flow, causing the area where the encoder is located to be contaminated by dust. If there is dust on the code disc support, it will affect the rotation of the support and cause it to shake, which will cause the grating code disc on the code disc support to reflect light information errors, causing the encoder to operate incorrectly. Summary of the invention

[0004] The technical problem to be solved by the present invention is to solve the problem that dust easily enters into the code disc support part of the contaminated encoder, thereby affecting the rotation of the code disc support part.

[0005] In order to solve the above technical problems, the present invention provides an encoder, a joint module and a robot, wherein the encoder includes: a device housing, the device housing is provided with an installation cavity; a first code disc support member, the first code disc support member is arranged in the installation cavity; a first bearing, the device housing and the first code disc support member are connected through the first bearing; a second code disc support member, the second code disc support member is arranged in the installation cavity, and the first code disc support member and the second code disc support member are coaxially arranged; a second bearing, the first code disc support member and the second code disc support member are connected through the second bearing; a third bearing, the second code disc support member and the device housing are connected through the third bearing.

[0006] Furthermore, the device housing includes a rear cover and a bearing seat, and the rear cover and the bearing seat enclose the installation cavity, the second code disc support is located on the side of the first code disc support close to the rear cover, and part of the first code disc support is located on the outer peripheral side of the second code disc support, the first bearing is clamped between the first code disc support and the bearing seat, and the first code disc support is at least partially located between the first bearing and the rear cover.

[0007] Furthermore, it also includes a first code disc and a second code disc, wherein the first code disc is arranged on a side of the first code disc support member close to the back cover, and the second code disc is arranged on a side of the second code disc support member close to the back cover.

[0008] Furthermore, the first code disc support is provided with a first circular groove and a second circular groove matching with the second code disc support, the second circular groove is located at the bottom of the first circular groove, and the radius of the first circular groove is larger than the radius of the second circular groove.

[0009] Furthermore, the bearing seat is provided with a first opening, the rear cover is provided with a second opening, the radius of the first opening is smaller than the outer diameter of the first bearing, the first opening is connected to the second circular groove, and the radius of the second opening is smaller than the outer diameter of the third bearing.

[0010] The present invention also provides a joint module, comprising a motor assembly, a reducer, a brake, a mounting seat and an encoder of any one of the above items, wherein the motor assembly, the reducer, the brake and the encoder are coaxially arranged; the motor assembly is coaxially arranged on the reducer, the motor assembly is provided with a motor shaft and an output shaft, the motor shaft is sleeved on the outside of the output shaft, the first code disk support is provided with an extension portion at one end close to the motor shaft, the extension portion is connected to the motor shaft, and the second code disk support is connected to the output shaft; the brake is located on one side of the device housing and is sleeved on a portion of the first code disk support; one end of the mounting seat is sleeved on the brake, and the other end of the mounting seat is connected to the device housing.

[0011] Furthermore, the extension portion is provided with a shaft mounting hole, and the end of the motor shaft is located in the shaft mounting hole.

[0012] Furthermore, it also includes a rotating shaft connecting member and an adapter ring, the extension portion is a plurality of first bosses, the rotating shaft connecting member includes a base and a plurality of second bosses, one side of the base is connected to the second boss, and the other side of the base is connected to the end of the motor shaft, one side of the adapter ring is provided with a first groove adapted to the first boss, and the other side of the adapter ring is provided with a second groove adapted to the second boss, and the adapter ring is clamped between the extension portion and the rotating shaft connecting member.

[0013] Furthermore, the width of one end of the first boss used for connecting to the first code disk support is greater than the width of the other end, and the width of one end of the second boss used for connecting to the base is greater than the width of the other end.

[0014] The present invention also provides a robot comprising any one of the above-mentioned joint modules.

[0015] Compared with the prior art, the beneficial effect of an embodiment of the present invention is that: the above-mentioned robot, by arranging multiple bearings in the encoder in the joint module, and the multiple bearings are located between the first code disc support, the second code disc support, and the device shell, can effectively reduce the friction between the internal components of each encoder, making it difficult for dust to affect the rotation of the first code disc support and the second code disc support, thereby improving the rotation stability of the code discs on the first code disc support and the second code disc support, facilitating the precise measurement of the code disc of the photoelectric encoder, and ensuring the stable operation of the encoder. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a cross-sectional view of a joint module provided by Embodiment 1 of the present invention;

[0017] Figure 2 is a cross-sectional view of an encoder provided in Embodiment 1 of the present invention;

[0018] Figure 3 is a first stereoscopic diagram of a first code disc support provided by Embodiment 1 of the present invention;

[0019] Figure 4 is a second stereoscopic view of the first code disc support provided by the first embodiment of the present invention;

[0020] Figure 5 is a cross-sectional view of a second code disc support member provided in Embodiment 1 of the present invention;

[0021] Figure 6 is a cross-sectional view of an exploded view of a housing provided in Embodiment 1 of the present invention;

[0022] Figure 7 is a cross-sectional view of a rotating shaft connecting member provided in Embodiment 1 of the present invention;

[0023] Figure 8 is a three-dimensional diagram of a rotating shaft connector provided in Embodiment 1 of the present invention;

[0024] Fig. 9 is a three-dimensional diagram of an adapter ring provided in Embodiment 1 of the present invention;

[0025] Fig.10 is a partial diagram of the joint module provided in the first embodiment of the present invention;

[0026] Fig.11 is a cross-sectional view of a joint module provided by Embodiment 2 of the present invention;

[0027] Fig.12 It is a cross-sectional view of the encoder provided in the second embodiment of the present invention.

[0028] The corresponding relationship between the reference numerals and the component names is as follows:

[0029] 1. Encoder; 11. Case; 111. Back cover; 112. Bearing seat; 12. First code disc support; 121. Extension; 13. Second code disc support; 14. First bearing; 15. Second bearing; 16. Third bearing; 17. First code disc; 18. Second code disc; 101. First opening; 102. Second opening; 103. First circular groove; 104. Second circular groove; 105. Rotating shaft mounting hole;

[0030] 2. Motor assembly; 21. Motor shaft; 22. Output shaft;

[0031] 3. Brake;

[0032] 4. Mounting seat;

[0033] 5. Reducer;

[0034] 6. Rotating shaft connector; 61. Base; 62. Second boss;

[0035] 7. Adapter ring; 701. First groove; 702. Second groove. DETAILED DESCRIPTION

[0036] The following is a description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be appreciated by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope of the present invention. Similarly, for clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0037] like Figures 1 to 12 As shown, an embodiment of the first aspect of the present invention provides an encoder, including: a housing 11, a first code disc support 12, a second code disc support 13, a first bearing 14, a second bearing 15 and a third bearing 16.

[0038] Among them, the device housing 11 is provided with an installation cavity; the first code disc support 12 is arranged in the installation cavity; the device housing 11 and the first code disc support 12 are connected through a first bearing 14; the second code disc support 13 is arranged in the installation cavity; the first code disc support 12 and the second code disc support 13 are connected through a second bearing 15; the second code disc support 13 and the device housing 11 are connected through a third bearing 16.

[0039] The encoder of the present application can effectively reduce the friction between the various components by arranging multiple bearings inside the encoder 1, and the multiple bearings are located between the first code disc support, the second code disc support, and the device shell 11, making it difficult for dust to affect the rotation of the first code disc support 12 and the second code disc support 13, thereby improving the rotation stability of the code discs on the first code disc support 12 and the second code disc support 13, facilitating the precise measurement of the code disc of the photoelectric encoder 1, and ensuring the stable operation of the encoder 1.

[0040] By assembling a plurality of bearings together, the loads of the first code disc support 12 and the second code disc support 13 can be evenly dispersed, and the wear of a single bearing can be reduced, thereby increasing the service life and stability of the entire encoder 1 and ensuring long-term reliable operation. Integrating a plurality of bearings into an integrated component can simplify the overall structure, reduce the difficulty of assembly, and improve assembly efficiency. It also helps to reduce the volume of the encoder 1. The housing 11 of the integrated structure can improve the dustproof effect of the encoder 1, making it difficult for dust to enter the installation cavity.

[0041] Because the encoder 1 is an independent structure with a shell, the shell is very effective in isolating impurities such as dust and oil from the outside of the encoder 1 from entering the operating area of ​​the encoder 1, improving the operating stability of the encoder 1, thereby improving the performance of the joint module. The installation cavity formed by the bearing seat 112 and the back cover 111 effectively prevents the invasion of impurities such as external dust and oil, ensuring the cleanliness of the internal components, thereby improving the working environment of the encoder 1. Multiple bearings are clamped between the first code disc support, the second code disc support, and the shell 11, making it more stable, helping to reduce vibration and noise, and also improving operational stability. By blocking dust and oil, the pollution to the code disc is reduced, the wear rate is reduced, and the service life is extended. The independent structure not only improves the operating efficiency of the encoder 1, but also effectively guarantees its accuracy, improves the performance of the entire joint module, makes the encoder 1 less likely to fail during operation, reduces maintenance costs, and improves reliability. Due to the protection of the internal environment of the independent structure, the frequency of cleaning and replacement of parts can be reduced during maintenance, thereby saving maintenance time and cost.

[0042] The multi-bearing configuration can effectively reduce the impact of vibration on the performance of the encoder 1, enhance its anti-interference ability, and ensure that it can still work normally in complex environments. The integrated structure makes it easier to assemble and disassemble the encoder 1 and replace each bearing, reducing the time and cost required for maintenance and improving the user experience.

[0043] like Figure 5 and Figure 6 As shown, in an optional embodiment of the present invention, the housing 11 includes a rear cover 111 and a bearing seat 112, the rear cover 111 and the bearing seat 112 enclose a mounting cavity, the first code disc support and the second code disc support are coaxially arranged, the second code disc support is located on the side of the first code disc support close to the rear cover 111, part of the first code disc support is located on the outer peripheral side of the second code disc support, the first bearing 14 is clamped between the first code disc support and the bearing seat 112, and the first code disc support is at least partially located between the first bearing 14 and the rear cover 111.

[0044] The bearing seat 112 and the back cover 111 are enclosed to form a mounting cavity for installing multiple bearings and code discs, and the support member is at least partially located between the housing 11, so that the encoder 1 forms an integrated independent structure, which helps to prevent dust from entering its interior. By sandwiching the first bearing 14 between the support member and the bearing seat 112, dust is prevented from entering the mounting cavity from the gap of the support member, and dust or oil impurities are prevented from contaminating the code disc in the mounting cavity, so that dust and oil generated by components such as the brake 3 and the reducer are not easy to enter the mounting cavity where the code disc is located, and the influence of dust and oil on the code disc is avoided as much as possible, ensuring the normal operation of the encoder 1, and improving the running stability of the encoder 1 and the performance of the joint module. The failure rate of the joint module is reduced.

[0045] In an optional embodiment of the present invention, Figure 1 and Figure 2 As shown, the encoder 1 further includes a first code disc 17 and a second code disc 18. The first code disc 17 is arranged on a side of the first code disc support member close to the rear cover 111, and the second code disc 18 is arranged on a side of the second code disc support member close to the rear cover 111. The bearing seat 112 and the rear cover 111 are threadedly connected to form a mounting cavity. The first code disc support member is at least partially located between the first bearing 14 and the rear cover 111. Figure 3 and Figure 4 As shown, the first code disc support is provided with a first circular groove 103 and a second circular groove 104 matching with the second code disc support. The second circular groove 104 is located at the bottom of the first circular groove 103 , and the radius of the first circular groove 103 is larger than that of the second circular groove 104 .

[0046] The threaded connection between the bearing seat 112 and the rear cover 111 facilitates the installation of internal components. When assembling the encoder 1, the first code disc 17 and the second code disc 18 are first installed on the first code disc support 12 and the second code disc support 13 respectively. The inner circle of the first bearing 14 is sleeved on the outer surface of the first code disc support 12, and the outer circle of the first bearing 14 fits on the inner wall surface of the bearing seat 112. The outer circle of the second bearing 15 is embedded in the second circular groove 104 of the first code disc support 12, and the inner circle of the second bearing 15 is sleeved with the outer side surface of the second code disc 18 support. The inner circle of the third bearing 16 is sleeved on the outer side surface of the end of the second code disc support 13 away from the second circular groove 104, and the outer circle of the third bearing 16 is embedded on the inner side surface of the rear cover 111. After installation, the rear cover 111 will be connected and fixed to the bearing seat 112 to enclose and form an installation cavity. The first bearing 14, the first code disc support 12, the first code disc 17, the second bearing 15, the second code disc support 13, the second code disc 18, and the third bearing 16 are all accommodated in the installation cavity formed by the bearing seat 112 and the rear cover 111. In the above installation, the code disc, the code disc support, the bearing seat 112, and the rear cover 111 are all coaxially assembled, and the first code disc support 12 and the second code disc support 13 can operate independently relative to the bearing seat 112. Finally, the encoder 1 reader is installed on the outer surface of the rear cover 111 corresponding to the code disc to form the encoder 1.

[0047] The coaxial arrangement of the first code disc support and the second code disc support enhances the stability of the overall structure and ensures balance during high-speed operation. Through reasonable mechanical layout, the load on the bearing is dispersed, the load-bearing capacity of the encoder 1 is improved, and the risk of failure is reduced. The addition of the second bearing 15 and the third bearing 16 effectively disperses the load, improves the stability of the overall structure, and reduces the impact of vibration on performance. The configuration of multiple bearings enhances the load-bearing capacity and ensures smooth operation under high loads and high speeds. Reasonable bearing layout reduces wear, extends the service life of the encoder 1, and reduces the frequency of maintenance. The integrated structure of multiple bearings makes the installation process easier, while facilitating the maintenance and replacement of each bearing, and can work stably under a wider range of working conditions, expanding the scope of application.

[0048] By setting the first circular groove 103 and the second circular groove 104 that match the second code disc support, it is not only convenient for docking installation but also can effectively improve the rotation accuracy of the second code disc support, ensure that the component maintains a stable position during operation, and reduce errors. By setting the second circular groove 104 at the bottom of the first circular groove 103, the load can be dispersed, the bearing capacity of the entire support structure can be improved, and the durability of the encoder 1 can be enhanced. The matching circular groove makes the docking of the second code disc support easier, reduces assembly time and difficulty, and improves production efficiency. The first circular groove 103 and the second circular groove 104 help to better lock the components, reduce vibration and displacement during operation, enhance overall stability, and the structure is simple and easy to disassemble, which is convenient for daily maintenance and cleaning, and reduces subsequent maintenance costs.

[0049] like Figure 1 and Figure 6 As shown, in an optional embodiment of the present invention, the bearing seat 112 is provided with a first opening 101, and the rear cover 111 is provided with a second opening 102, the radius of the first opening 101 is smaller than the outer diameter of the first bearing 14, the first opening 101 is connected to the second circular groove 104, and the radius of the second opening 102 is smaller than the outer diameter of the third bearing 16.

[0050] By setting the first opening 101 and the second opening 102, it is convenient to connect the encoder 1 to the rotating shaft. At the same time, by limiting the size of the first opening 101, it is ensured that the bearing maintains good sealing during operation, effectively reducing the entry of dust and impurities and protecting the internal components. By controlling the opening radius to be smaller than the outer diameter of the bearing, the contact area between the bearing and the outside world is reduced, thereby reducing friction and improving operating efficiency. Reasonable opening size simplifies the installation and replacement of bearings, improves the convenience of assembly, and saves time and labor costs. The smaller opening size enhances the overall structural strength of the bearing seat 112 and reduces deformation caused by external impact or pressure. Specifically, the first opening 101 and the second opening 102 are both provided with limit blocks extending inward.

[0051] like Figure 1 and Fig.10 As shown, an embodiment of the second aspect of the present application provides a joint module, including a motor assembly 2, a reducer 5, a brake 3 and a mounting seat 4, characterized in that it also includes the aforementioned encoder 1.

[0052] Among them, the motor assembly 2, the reducer 5, the brake 3 and the encoder 1 are coaxially arranged; the motor assembly 2 is coaxially arranged on the reducer 5, and the motor assembly 2 is provided with a motor shaft 21 and an output shaft 22, the motor shaft 21 is sleeved on the outside of the output shaft 22, and the first code disk support is close to the motor shaft 21. The end is provided with an extension portion 121, the extension portion 121 is connected to the motor shaft, and the second code disk support is connected to the output shaft 22; the brake 3 is located on one side of the device housing 11, and is sleeved on a part of the first code disk support; one end of the mounting seat 4 is sleeved on the brake 3, and the other end of the mounting seat 4 is connected to the device housing 11.

[0053] When the joint module is assembled, the coaxially arranged shaft of the motor assembly 2, the reducer 5, the brake 3 and the encoder 1 is the output shaft 22, the motor shaft 21 of the motor assembly 2 is integrated with the input end of the reducer 5, the motor assembly 2 is coaxially installed on the end side of the reducer 5, the brake 3 is coaxially installed inside the mounting seat 4, and then the mounting seat 4 is coaxially installed on the end side of the motor assembly 2. The front end side of the output shaft 22 is coaxially installed on the front end of the reducer 5, and the end of the output shaft 22 passes through the reducer 5, the motor assembly 2, the brake 3, and the mounting seat 4 in sequence, and extends out of the end face of the brake 3 to extend toward the end direction. A shaft mounting hole 105 for connecting the extension portion 121 of the first code disk support is provided in the end direction of the motor shaft 21. The inner circle of the end side of the mounting seat 4 is provided with an inner side surface for installing the encoder 1. Specifically, the output shaft 22 is a hollow shaft, and the end of the hollow shaft is a slender hollow tubular. The code disc is arranged on the support, and the first code disc support, the second code disc support, the code disc, the first bearing 14, the second bearing 15 and the third bearing 16 are coaxially arranged with the hollow shaft as the axis center.

[0054] By arranging the motor assembly 2, reducer 5, brake 3 and encoder 1 coaxially, the internal space layout is optimized, making the module more compact and easy to integrate into various robots. At the same time, the dust and oil generated by the brake 3 and reducer are not easy to enter the installation cavity where the code disc is located, avoiding the influence of dust and oil on the code disc as much as possible, ensuring the normal operation of the encoder 1, improving the running stability of the encoder 1 and the performance of the joint module, and reducing the failure rate of the joint module.

[0055] The modular structure makes the assembly and replacement of each component more convenient, especially the cooperation with the encoder 1 of the integrated structure, which reduces the assembly time and maintenance cost. The brake 3 is located on the side of the support away from the rear cover 111, which can more effectively realize the braking function, ensure the rapid and stable stopping of the module movement during operation, and improve safety. The coaxial layout and reasonable support structure can effectively reduce the vibration and noise during operation, and provide a more stable working environment for the equipment. The connection between the mounting seat 4 and the brake 3, the bearing seat 112 and the rear cover 111 enhances the overall structural strength of the joint module, ensuring reliable operation under high load conditions.

[0056] like Fig.11 and Fig.12 As shown, in an optional embodiment of the present invention, the extension portion 121 is provided with a shaft mounting hole 105 , and the end of the motor shaft 21 is located in the shaft mounting hole 105 .

[0057] Specifically, the first code disc support is coaxially connected to the motor shaft 21, and the extension portion 121 is provided with a shaft mounting hole 105. The first code disc support is fixedly connected to the end of the motor shaft 21 through the shaft mounting hole 105; the second code disc support 13 is fixedly connected to the end of the output shaft 22, thereby realizing high-speed rotation of the input end of the first code disc 17 and low-speed rotation of the output end of the second code disc 18.

[0058] By setting the shaft mounting hole 105, the motor shaft 21 can be effectively embedded in the extension portion 121 on the first code disk support to achieve a fixed connection. At the same time, the gap between components is reduced, further improving the overall compactness of the module and facilitating installation and application in limited space.

[0059] Having the end of the motor shaft 21 located in the shaft mounting hole 105 helps to increase the axial support capacity, reduce the vibration and deviation of the shaft during operation, and improve the stability and reliability of the system. It ensures the direct connection between the motor shaft 21 and the first code disk support, optimizes the power transmission efficiency, reduces energy loss, and improves the overall performance of the system. Fixing the motor shaft 21 in the shaft mounting hole 105 is convenient for later maintenance and replacement. The user can easily disassemble the motor assembly 2 when maintenance is required, reducing the difficulty and time cost of maintenance. The shaft mounting hole 105 enhances the fixation of the motor shaft 21, avoids safety hazards caused by loosening or falling off of the shaft, and improves the safety of the module under high load or high-speed operation conditions.

[0060] In an optional embodiment of the present invention, a shaft mounting hole 105 is provided at the end of the motor shaft 21 , and the extension portion 121 is at least partially located in the shaft mounting hole 105 .

[0061] like Figure 7 , Figure 8 and Fig. 9 As shown, in an optional embodiment of the present invention, it also includes a shaft connector 6 and an adapter ring 7, the extension portion 121 is a plurality of first bosses, the shaft connector 6 includes a base 61 and a plurality of second bosses 62, one side of the base 61 is connected to the second boss 62, and the other side of the base 61 is connected to the end of the motor shaft 21, one side of the adapter ring 7 is provided with a first groove 701 adapted to the first boss, and the other side of the adapter ring 7 is provided with a second groove 702 adapted to the second boss 62, and the adapter ring 7 is clamped between the extension portion 121 and the shaft connector 6.

[0062] During installation, the base 61 of the shaft connector 6 is coaxially sleeved on the outer circle of the end of the motor shaft 21, and the abutting surface of the base 61 is fitted and abutted against the end face of the motor shaft 21. The base 61 is provided with a connecting hole, which is aligned with the motor hole of the motor shaft 21 and fixed and locked by a locking member, so that the shaft connector 6 is coaxial and fixed to the end of the motor shaft 21 of the mounting seat 4. Then the adapter ring 7 is coaxially sleeved on the shaft connector 6, and the second boss 62 is aligned with the second groove 702 for insertion and embedding installation, and at this time, the first groove 701 faces one end of the joint module. Then the encoder 1 is coaxially embedded and installed in the mounting seat 4, that is, the outer side surface of the bearing seat 112 of the encoder 1 component and the inner side surface of the mounting seat 4 are coaxially connected and relatively fixedly connected; at this time, the first boss of the first code disc support 12 of the encoder 1 is embedded in the first groove 701, and the inner side of the second code disc support 13 will be sleeved and fixed on the end of the output shaft 22.

[0063] The base 61 of the shaft connector 6 is connected to the end of the motor shaft 21, which effectively enhances the overall connection stability of the module and reduces the risk of loosening due to vibration during movement. The cooperation between the first boss and the first groove 701, and the cooperation between the second boss 62 and the second groove 702, enable the adapter ring 7 to flexibly adapt to extensions 121 and shaft connectors 6 of different specifications and designs, thereby improving the compatibility of the module. The adapter ring 7 optimizes the force transmission path, ensuring that the power of the motor can be more efficiently transmitted to the moving part of the joint module, reducing energy loss and improving overall performance.

[0064] The adapter ring 7 facilitates the docking of the extension portion 121 with the motor shaft 21, making installation and disassembly easier, and the user can easily perform maintenance and replacement, which improves the convenience of operation. The multiple first bosses and second bosses 62 not only facilitate snap-fitting, but also effectively utilize space, avoid the increased occupied area due to complex structure, and help achieve efficient layout in a compact environment. The connector and adapter ring 7 can evenly distribute the load, reduce local stress concentration, improve the durability and service life of the module, and the stable connection structure and adapter structure reduce the risk of component falling off or failure, and improve the safety of the system in high-intensity working environments. Specifically, the shaft connector 6 is fixed to the end of the motor shaft 21 by bolting on the base 61.

[0065] like Figure 3 and Figure 8 As shown, in an optional embodiment of the present invention, the width of one end of the first boss for connecting to the first code disc support 12 is greater than the width of the other end, and the width of one end of the second boss 62 for connecting to the base 61 is greater than the width of the other end.

[0066] The width h12 of one end of the first boss for connection is greater than the width h11 of the other end, and the width h22 of one end of the second boss 62 for connection is greater than the width h21 of the other end. Since the groove of the adapter ring 7 matching the boss is also a trapezoidal shape with one end large and the other end small, and the overall size of the groove is slightly smaller than the second boss 62 of the shaft connector 6 and the first boss size of the first code disk support 12, when the encoder 1 is installed as a whole on the mounting seat 4, as the encoder 1 is pushed toward the front end along the axial direction, the boss and the groove will be embedded in each other and will gradually be pressed to generate pre-tightening pressure. After fixing and locking the encoder 1, the adapter ring 7 is located between the shaft connector 6 and the first code disk support 12, and there is no gap for relative rotation / movement between the three, so that coaxial and same-speed rotation is achieved.

[0067] Specifically, the first boss and the second boss 62 have the same shape, and the adapter ring 7 can be installed on both sides without direction restrictions. The encoder 1 provided with the first boss is used, and the shaft connector 6 with the same second boss 62 and the adapter ring 7 with the groove are plugged and installed, which can greatly improve the assembly efficiency and better maintain the product stability.

[0068] Specifically, the first boss and the second boss both adopt a trapezoidal structure, and may also adopt a rectangular, fan-shaped, circular, waist-shaped or other structural forms, or a latch type.

[0069] The asymmetric structure of the top and root widths of the first boss and the second boss 62 allows them to be better locked in the corresponding grooves during connection, thereby improving the firmness of the connection and reducing looseness caused by movement or vibration. During installation, the user can more easily align the first boss and the second boss 62 with the grooves, reducing the difficulty of alignment and improving installation efficiency.

[0070] The third aspect of the present application provides a joint robot, including the aforementioned joint module, a plurality of joint modules are matched to form a robot, and a plurality of joint modules are matched to form a robot. A multi-joint collaborative robot can be formed by matching multiple joint modules, and can realize multi-directional rotation and flipping actions.

[0071] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and this document does not limit this.

[0072] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An encoder, characterized in that: include: A housing, wherein the housing is provided with a mounting cavity; a first code disc support member, the first code disc support member being disposed in the mounting cavity; A first bearing, the housing and the first code disc support are connected via the first bearing; A second code disc support member, the second code disc support member is arranged in the installation cavity, and the first code disc support member and the second code disc support member are coaxially arranged; A second bearing, the first code disc support member and the second code disc support member are connected via the second bearing; The third bearing, the second code disc support and the housing are connected through the third bearing.

2. The encoder according to claim 1, characterized in that The housing includes a rear cover and a bearing seat, and the rear cover and the bearing seat enclose the installation cavity. The second code disc support is located on the side of the first code disc support close to the rear cover, and part of the first code disc support is located on the outer peripheral side of the second code disc support. The first bearing is clamped between the first code disc support and the bearing seat, and the first code disc support is at least partially located between the first bearing and the rear cover.

3. The encoder according to claim 2, characterized in that It also includes a first code disc and a second code disc, wherein the first code disc is arranged on a side of the first code disc support member close to the rear cover, and the second code disc is arranged on a side of the second code disc support member close to the rear cover.

4. The encoder according to claim 2, characterized in that The first code disc support is provided with a first circular groove and a second circular groove matching with the second code disc support. The second circular groove is located at the bottom of the first circular groove. The radius of the first circular groove is larger than that of the second circular groove.

5. The encoder according to claim 4, characterized in that The bearing seat is provided with a first opening, and the rear cover is provided with a second opening. The radius of the first opening is smaller than the outer diameter of the first bearing. The first opening is connected to the second circular groove, and the radius of the second opening is smaller than the outer diameter of the third bearing.

6. A joint module, comprising a motor assembly, a reducer, a brake and a mounting seat, characterized in that: It also includes the encoder described in any one of claims 1 to 5 above, wherein the motor assembly, the reducer, the brake and the encoder are coaxially arranged; The motor assembly is coaxially arranged on the reducer, and the motor assembly is provided with a motor shaft and an output shaft, the motor shaft is sleeved on the outside of the output shaft, an extension portion is provided at one end of the first code disc support member close to the motor shaft, the extension portion is connected to the motor shaft, and the second code disc support member is connected to the output shaft; The brake is located at one side of the housing and is sleeved on a portion of the first code disc support member; One end of the mounting seat is sleeved on the brake, and the other end of the mounting seat is connected to the device housing.

7. The joint module according to claim 6, characterized in that: The extension portion is provided with a shaft mounting hole, and the end of the motor shaft is located in the shaft mounting hole.

8. The joint module according to claim 6, characterized in that: It also includes a rotating shaft connecting member and an adapter ring, the extension portion is a plurality of first bosses, the rotating shaft connecting member includes a base and a plurality of second bosses, one side of the base is connected to the second bosses, and the other side of the base is connected to the end of the motor shaft, one side of the adapter ring is provided with a first groove adapted to the first boss, and the other side of the adapter ring is provided with a second groove adapted to the second boss, and the adapter ring is clamped between the extension portion and the rotating shaft connecting member.

9. The joint module according to claim 8, characterized in that: The width of one end of the first boss used for connecting to the first code disk support is greater than the width of the other end, and the width of one end of the second boss used for connecting to the base is greater than the width of the other end.

10. A robot, characterized in that: Comprising a joint module as described in any one of claims 6-9.

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