Encoder and joint module
By setting multiple identifications on the ring code disk and reducing the number of code disks, the problems of large space occupation, high cost and magnetic field interference in traditional joint modules are solved, and higher measurement accuracy and wider application scenarios are achieved, while reducing costs.
Patent Information
- Application Number
- CN202411974185.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-30
- Publication Date
- 2025-04-04
AI Technical Summary
In the prior art, traditional joint module servo control schemes mostly adopt two encoder schemes, resulting in large space occupation, high cost and interfering with magnetic ring magnetic fields, limiting its development and application in robots and other fields.
The encoder scheme of a ring code disk and two read heads is adopted. By setting a plurality of circumferentially spaced marks on the code disk and setting the read head to identify any two or one of the three faces of the code disk, the number of code disks is reduced, the cost is reduced and the magnetic field interference is reduced.
It improves the measurement accuracy of the encoder and the richness of the application scenarios, while reducing costs, reducing magnetic field interference and improving detection accuracy.
Smart Images
Figure CN119756439A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of robotics technology, and in particular to an encoder and a joint module. Background Art
[0002] Encoders are core components in various equipment such as robots and CNC machine tools, and play an important role in motor control. With the development of technologies such as robots, more and more joint modules use encoder servo control.
[0003] In the prior art, the traditional joint module servo control solution mostly adopts the solution of two encoders, that is, two code disks and two readers. It occupies a large space, and there is a possibility of mutual interference between the magnetic fields of the two magnetic rings in a compact space. In addition, since the two encoders will significantly increase the cost of the module, the development and application of dual encoders in fields such as robots are limited.
[0004] Therefore, there is an urgent need for an encoder and a joint module to solve the above problems. Summary of the invention
[0005] Based on the above, the object of the present invention is to provide an encoder and a joint module with higher measurement accuracy, more applicable scenarios and lower cost.
[0006] To achieve the above object, the present invention adopts the following technical solutions:
[0007] Encoder, including:
[0008] A code disk is arranged in an annular shape, wherein two opposite sides of the annular code disk are arranged with a first side surface and a second side surface, wherein the first side surface and the second side surface are connected through an outer peripheral surface, wherein the code disk is arranged with a first code track, wherein the first code track includes a plurality of first marks arranged at intervals along the circumference of the code disk, wherein the first marks extend to the first side surface, the second side surface and the outer peripheral surface, wherein the code disk is arranged with a second code track, wherein the second code track is arranged with a second mark;
[0009] Two reading heads, the two reading heads can be set corresponding to two or one of the first side surface, the second side surface and the outer peripheral surface, for respectively identifying the first mark or the second mark.
[0010] As a preferred solution of the encoder, a mounting notch is arranged in the circumference of the code disc, and the first mark is embedded in the mounting notch.
[0011] As a preferred solution of the encoder, the first mark is set as a magnetic mark, and the magnetic properties of adjacent magnetic marks are opposite.
[0012] As a preferred solution of the encoder, the second code channel is arranged inside the first code channel.
[0013] A joint module comprises an outer frame and a first axis and a second axis which can rotate relative to the outer frame, wherein the second axis is sleeved on the outside of the first axis. The joint module also comprises an encoder as described in any of the above schemes, wherein the two readers are respectively arranged on the first axis and the outer frame, and the code disk is arranged on the second axis.
[0014] As a preferred solution of the joint module, the joint module is provided with a drive motor, which is used to drive the second shaft and rotate relative to the first shaft at a preset speed ratio, the drive motor includes a motor rotor and a motor stator that rotate relatively, the motor stator is connected to the outer frame, one of the readers is arranged on the first shaft, the motor rotor is sleeved on the second shaft, and the other reader is arranged on the outer frame.
[0015] As a preferred solution of the joint module, the joint module is further provided with a mounting sleeve, the mounting sleeve is connected to the outer frame, and one of the readers is arranged on the mounting sleeve.
[0016] As a preferred solution of the joint module, the two reading heads are respectively arranged corresponding to the first side surface and the second side surface.
[0017] As a preferred solution of the joint module, the joint module is provided with a driving motor, and the driving motor is provided with a controller; the second mark runs through the first side surface and the second side surface; the two readers correspond to the first side surface and the second side surface respectively; and the readers are communicatively connected with the controller.
[0018] As a preferred solution of the joint module, the code disk is provided with a third code channel, the third code channel is provided on the inner side of the first code channel, the third code channel is provided with a third mark that is misaligned with the first mark, and the third mark runs through the first side surface and the second side surface; the two readers correspond to the first side surface and the second side surface respectively.
[0019] The beneficial effects of the present invention are:
[0020] The present invention sets a code track on an annular code disk, and sets the first mark on the code track that is set at intervals along the circumference of the code disk to at least extend to three surfaces of the code disk, namely, the first side surface, the second side surface and the outer peripheral surface. Accordingly, the encoder is provided with two readers, and the two readers can be set corresponding to any two surfaces or one surface of the above three surfaces. Since the first mark at least extends to the above three surfaces, they can all be used for identification by the reader, making the application scenarios of the encoder more diverse; at the same time, the code disk is provided with a second code track, and the second code track is provided with a second mark. Accordingly, the reader can be used to simultaneously identify the first mark and the second mark. In addition, reducing the setting of one code disk effectively reduces the cost, while also reducing the interference between the two code disks, and improving the detection accuracy of the encoder. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.
[0022] Figure 1 is a schematic diagram of a code disk of an encoder provided in a specific embodiment of the present invention;
[0023] Figure 2 is a side view of a code disk of an encoder provided in a specific embodiment of the present invention;
[0024] Figure 3 It is a partial cross-sectional view of a joint module provided by a specific embodiment of the present invention.
[0025] In the figure:
[0026] 100, code disk; 101, first side surface; 102, second side surface; 103, outer peripheral surface; 110, first code channel; 111, first mark; 120, second code channel; 121, second mark;
[0027] 200, reading head;
[0028] 300, first axis; 310, second axis;
[0029] 400, installation sleeve;
[0030] 500, driving motor; 510, motor rotor; 520, motor stator; 530, outer frame. DETAILED DESCRIPTION
[0031] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.
[0032] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.
[0033] Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection or a detachable 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, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0034] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.
[0035] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.
[0036] like Figure 1 and Figure 2As shown, this embodiment provides an encoder, which includes a code disk 100 and two readers 200, the code disk 100 is arranged in a ring shape, and the first side surface 101 and the second side surface 102 are arranged on opposite sides of the ring-shaped code disk 100, the first side surface 101 and the second side surface 102 are connected by an outer peripheral surface 103, the code disk 100 is provided with a first code track 110, the first code track 110 includes a plurality of first identifications 111 arranged at intervals along the circumference of the code disk 100, the first identification 111 extends to the first side surface 101, the second side surface 102 and the outer peripheral surface 103, the code disk 100 is provided with a second code track 120, and the second code track 120 is provided with a second identification 121; the two readers 200 can be arranged corresponding to two of the first side surface 101, the second side surface 102 and the outer peripheral surface 103 or one of them, for respectively identifying the first identification 111 or the second identification 121.
[0037] By setting a code track on the annular code disc 100, and setting the first mark 111 on the code track that is set at intervals along the circumference of the code disc 100 to at least extend to three surfaces of the code disc 100, namely the first side surface 101, the second side surface 102 and the outer peripheral surface 103. Accordingly, the encoder is provided with two reading heads 200, and the two reading heads 200 can be set corresponding to any two surfaces or one surface of the above three surfaces. Since the first mark 111 at least extends to the above three surfaces, it can be used for identification by the reading head 200, making the application scenarios of the encoder more abundant; at the same time, the code disc 100 is provided with a second code track 120, and the second code track 120 is provided with a second mark 121. Accordingly, the reading head 200 can be used to simultaneously identify the first mark 111 and the second mark 121. In addition, reducing the setting of one code disc 100 effectively reduces the cost, and at the same time reduces the interference between the two code discs 100, and improves the detection accuracy of the encoder.
[0038] Specifically, the first mark 111 is set as a magnetic mark, and the magnetism of adjacent magnetic marks is opposite relative to the first side surface 101, the second side surface 102 or the outer peripheral surface 103. Accordingly, the read head 200 is set as a Hall effect sensor or a magnetoresistive sensor for identifying the magnetic mark. The advantage of the encoder with a magnetic mark is that it is more durable, vibration-resistant and impact-resistant.
[0039] Optionally, in order to realize the connection between the first mark 111 and the code disc 100, a mounting notch is provided in the circumference of the code disc 100, and the first mark 111 is embedded in the mounting notch. The above arrangement enables the first mark 111 to be delayed to three surfaces of the code disc 100 after installation, and the installation method is simple and reliable.
[0040] It is understandable that the code disc 100 provided with the second code track 120 is an incremental code disc, which has a lower cost than an absolute code disc. In other embodiments, the code disc 100 may also be an absolute code disc.
[0041] like Figure 3 As shown, this embodiment also discloses a joint module, including an outer frame 530 and a first shaft 300 and a second shaft 310 that can rotate relative to the outer frame 530, the second shaft 310 is sleeved on the outside of the first shaft 300, and the joint module also includes an encoder as in any of the above schemes, two readers 200 are respectively arranged on the first shaft 300 and the outer frame 530, and the code disk 100 is arranged on the second shaft 310. The joint module provided with the above encoder has more precise motion control and lower cost; in addition, since the above encoder structure is more compact, it is more convenient to set other components on the joint module.
[0042] Specifically, the joint module is provided with a drive motor 500, which is used to drive the second shaft 310 to rotate relative to the first shaft 300 at a preset speed ratio. For example, the preset speed ratio can be set according to the driving needs of the joint module, such as one rotation of the second shaft 310 corresponds to one rotation of the first shaft 300. At the same time, the drive motor 500 includes a motor rotor 510 and a motor stator 520 that rotate relatively, and the motor stator 520 is connected to the outer frame 530, wherein one of the read heads 200 is arranged on the first shaft 300, the motor rotor 510 is sleeved on the second shaft 310, and the other read head 200 is arranged on the outer frame 530. Since the encoder's read head 200 can feedback the position information of the first shaft 300 and the second shaft 310, it can be used to realize the control of the drive motor 500, the structural design is simple, the required parts are few, and the overall stability can be significantly improved.
[0043] Furthermore, the joint module is further provided with a mounting sleeve 400, which is connected to the outer frame 530, and one of the readers 200 is provided on the mounting sleeve 400. The mounting sleeve 400 is provided to realize the installation of the reader 200 on the outer frame 530.
[0044] Preferably, two readers 200 are respectively arranged corresponding to the first side surface 101 and the second side surface 102. Since the first side surface 101 and the second side surface 102 are larger in area than the outer peripheral surface 103, the reliability of identification can be ensured by respectively arranging the two readers 200 corresponding to the first side surface 101 and the second side surface 102.
[0045] It can be understood that the drive motor 500 is provided with a controller; the two reading heads 200 transmit the read data information to the controller of the drive motor 500, and the controller of the drive motor 500 obtains the position information of the first axis 300 and the second axis 310 through calculation, and then controls the drive motor 500 to perform corresponding movement through the control algorithm stored in the controller of the drive motor 500.
[0046] In one embodiment, the code disc 100 is provided with an absolute code disc, that is, the code disc 100 is provided with a third code track, the third code track is provided inside the first code track 110, the third code track is provided with a third mark that is misaligned with the first mark 111, and the third mark runs through the first side surface 101 and the second side surface 102; the two readers 200 correspond to the first side surface 101 and the second side surface 102 respectively. At this time, the first reader 200 and the second reader 200 can respectively obtain the absolute position information of the first axis 300 and the second axis 310. Exemplarily, when the angle read by the reader 200 provided in the outer frame 530 is θ A , the angle read by the reading head 200 disposed on the first axis 300 is θ B , then: the position corresponding to the second axis 310 is θ A : The position of the first axis 300 relative to the outer frame 530 is θ B -θ A .
[0047] In this embodiment, the code disk 100 is configured as an incremental code disk, that is, the code disk 100 is provided with a second code track 120, the second code track 120 is arranged on the inner side of the first code track 110, and the second code track 120 is provided with a second mark 121, and the second mark 121 runs through the first side 101 and the second side 102; the two readers 200 correspond to the first side 101 and the second side 102 respectively. Since the code disk 100 is an incremental code disk, the absolute position information of the first axis 300 and the second axis 310 cannot be obtained when the power is turned on. However, since the code disk 100 rotates synchronously with the high-speed end, and because the reduction ratio of the reducer of the drive motor 500 is generally large. Therefore, the position information read by the two readers 200 is combined with the reduction ratio of the reducer, and the two readers 200 can realize the acquisition of the absolute position information of the first axis 300 and the second axis 310 with a very small displacement. Exemplarily, when the angle read by the reader 200 arranged on the outer frame 530 is θ A , the angle read by the reading head 200 disposed on the first axis 300 is θ B , then: the position corresponding to the second axis 310 is θ A : The position of the first axis 300 relative to the outer frame 530 is θ B -θ A That is, the absolute position information of the first shaft 300 and the second shaft 310 can be obtained by setting the code disk 100 of the encoder as an incremental code disk and combining the reduction ratio of the reducer of the drive motor 500, which is lower in cost than using an absolute encoder.
[0048] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there will be changes in the specific implementation methods and application scopes. The content of this specification should not be understood as limiting the present invention.
Claims
1. An encoder, characterized in that include: A code disc (100) is arranged in a ring shape, wherein two opposite sides of the ring-shaped code disc (100) are provided with a first side surface (101) and a second side surface (102), wherein the first side surface (101) and the second side surface (102) are connected via an outer peripheral surface (103), wherein the code disc (100) is provided with a first code track (110), wherein the first code track (110) comprises a plurality of first marks (111) arranged at intervals along the circumference of the code disc (100), wherein the first marks (111) extend to the first side surface (101), the second side surface (102) and the outer peripheral surface (103), wherein the code disc (100) is provided with a second code track (120), wherein the second code track (120) is provided with a second mark (121); Two reading heads (200), the two reading heads (200) can be set corresponding to two or one of the first side surface (101), the second side surface (102) and the outer peripheral surface (103), and are used to respectively identify the first mark (111) or the second mark (121).
2. The encoder according to claim 1, characterized in that The code disc (100) is provided with a mounting notch in the circumference thereof, and the first mark (111) is embedded in the mounting notch.
3. The encoder according to claim 1, characterized in that The first marks (111) are configured as magnetic marks, and the magnetism of adjacent magnetic marks is opposite.
4. The encoder according to claim 1, characterized in that The second code channel (120) is arranged inside the first code channel (110).
5. The joint module is characterized by: It includes an outer frame (530) and a first axis (300) and a second axis (310) that can rotate relative to the outer frame (530), the second axis (310) is sleeved on the outside of the first axis (300), the joint module also includes an encoder as described in any one of claims 1 to 4, the two reading heads (200) are respectively arranged on the first axis (300) and the outer frame (530), and the code disk (100) is arranged on the second axis (310).
6. The joint module according to claim 5, characterized in that: The joint module is provided with a driving motor (500), and the driving motor (500) is used to drive the second shaft (310) to rotate relative to the first shaft (300) at a preset speed ratio. The driving motor (500) includes a motor rotor (510) and a motor stator (520) that rotate relative to each other, and the motor stator (520) is connected to the outer frame (530), one of the reading heads (200) is arranged on the first shaft (300), the motor rotor (510) is sleeved on the second shaft (310), and the other reading head (200) is arranged on the outer frame (530).
7. The joint module according to claim 5, characterized in that: The joint module is also provided with a mounting sleeve (400), the mounting sleeve (400) being connected to the outer frame (530), and one of the readers (200) being arranged on the mounting sleeve (400).
8. The joint module according to claim 5, characterized in that: The two reading heads (200) are respectively arranged corresponding to the first side surface (101) and the second side surface (102).
9. The joint module according to any one of claims 5 to 8, characterized in that: The joint module is provided with a driving motor (500), and the driving motor (500) is provided with a controller; the second identifier (121) runs through the first side surface (101) and the second side surface (102); the two readers (200) correspond to the first side surface (101) and the second side surface (102) respectively; the reader (200) is communicatively connected with the controller.
10. The joint module according to any one of claims 5 to 8, characterized in that: The code disc (100) is provided with a third code channel, the third code channel is provided on the inner side of the first code channel (110), the third code channel is provided with a third mark that is offset from the first mark (111), and the third mark runs through the first side surface (101) and the second side surface (102); the two reading heads (200) correspond to the first side surface (101) and the second side surface (102), respectively.