Joint encoder and joint structure of collaborative robot

Abstract

The utility model provides a joint encoder and a joint structure of a collaborative robot, which comprises a high-speed end optical marshalling piece and a low-speed end magnetic marshalling piece which are connected in a matching way, and the low-speed end magnetic marshalling piece is coaxially connected with the high-speed end optical marshalling piece in a matching way; the high-speed end optical coding assembly comprises an optical coding support, an optical coding rotating shaft, an optical coding bearing, an optical coding disc and an optical coding PCBA board. The optical-weaving rotating shaft comprises an outer cylinder and a mounting plate; the optical coding disc is mounted on the mounting plate of the optical coding rotating shaft; the optical coding PCBA board is installed on the optical coding support on the outer side of the optical coding disc. The utility model provides a joint encoder and a joint structure of a collaborative robot, which can effectively avoid the risk of pollution of a light encoding disc and optimize the low-speed end encoder and other part structures in the joint, so that the joint structure is more reasonable and is simple to disassemble, assemble and maintain. And meanwhile, the connecting mode of the encoder and the high-speed shaft is optimized, so that the running performance of the joint is improved, and the service life is prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of robot joints, in particular to a collaborative robot joint encoder and a joint structure. Background Art

[0002] An existing high-speed end encoder structure of a collaborative robot joint uses an incremental photoelectric encoder. The code disk is directly locked to the high-speed shaft of the motor. The encoder reader PCBA board is installed on the joint housing or the reader is directly designed on the joint drive board to read the code disk. Although this structure is simple, the installation operation is relatively difficult, and the requirements on the height and flatness of the code disk installation are relatively strict. At the same time, the encoder has a large number of structural parts. Each disassembly and assembly process requires each part to be disassembled and assembled on the joint in turn, and care must be taken to avoid dirtying or damaging the code disk during the assembly operation. Therefore, the production assembly and maintenance efficiency is low. In addition, because the code disk is directly exposed to the joint cavity, it is susceptible to various contaminations, which often causes the robot encoder to alarm.

[0003] An optimized structure that emerged later designed the entire photoelectric encoder as a component, and installed the component shaft and the motor shaft gear through a rubber elastic coupling. In this structure, the optical encoder component half-wrapped the optical encoder disk through a machined part, and the optical encoder PCBA board also covered the surface of the optical encoder disk to a large extent, reducing the probability of contaminating the disk. However, due to the wear of the rubber coupling during operation, the bearings in the component will have oil seepage during high-speed operation, and the oil and wear particles can easily contaminate the disk through the internal path of the component; and the disk is directly opposite to the drive board below, and the opening channel of the component is large. The heating of the drive board causes the components to atomize or volatilize, which can easily adhere to the disk. Therefore, this structure still has the risk of disk contamination.

[0004] In addition, although the entire photoelectric encoder is easy to disassemble and assemble as a component, which improves production and maintenance efficiency, the rubber coupling is soft in texture and requires a certain amount of compression when used. Since there are often tolerances in the processing dimensions of parts in the joint, the amount of compression is not easy to control. When the compression is small, it will cause rotation delays, and when the compression is large, the rubber parts will be more easily damaged. In addition, during the operation of the joint, uncertain forces will be generated and reacted on the high-speed motor shaft, thereby affecting the smooth operation of the joint. With the use of the robot, the elastomeric coupling will wear to a certain extent and fail, and there will be problems with the connection and operation between the encoder and the high-speed motor shaft. This problem will affect the life of the robot. Utility Model Content

[0005] The technical problem to be solved by the embodiments of the utility model is to provide a collaborative robot joint encoder and joint structure to solve the problem that the code disk is easily contaminated by friction particles and bearing lubricating oil.

[0006] In order to solve the above technical problems, the utility model provides a collaborative robot joint encoder, including a high-speed end optical encoder component and a low-speed end magnetic encoder component that are connected in a matching manner, and the low-speed end magnetic encoder component is coaxially connected with the high-speed end optical encoder component;

[0007] The high-speed optical coding assembly includes: an optical coding bracket, an optical coding shaft, an optical coding bearing, an optical coding disk and an optical coding PCBA board, wherein the optical coding bearing is installed between the optical coding bracket and the optical coding shaft, wherein the optical coding bracket includes a cylindrical inner wall, a cylindrical outer wall and an annular side wall, and the annular side wall connects the cylindrical inner wall and the cylindrical outer wall, so that the cross section of the optical coding bracket forms a U-shaped mounting groove;

[0008] The optically braided rotating shaft comprises an outer cylinder and a mounting plate, the mounting plate is located in the outer cylinder, and a shaft center hole coaxial with the outer cylinder is provided at the center of the mounting plate; the outer diameter of the outer cylinder is smaller than the inner diameter of the cylindrical outer wall, but larger than the outer diameter of the cylindrical inner wall, and the distance between the outer cylinder and the cylindrical outer wall is closer;

[0009] The optical bearing installation cavity is formed by the cylindrical inner wall of the optical support, the annular side wall, the outer cylinder of the optical shaft, and the installation plate; the optical bearing is installed in the optical bearing installation cavity, and the inner ring of the optical bearing is fixedly connected to the cylindrical inner wall of the optical support, and the outer ring of the optical bearing is fixedly connected to the outer cylinder of the optical shaft;

[0010] The optical encoding disc is mounted on a mounting plate of an optical encoding shaft; the optical encoding PCBA board is mounted on an optical encoding bracket outside the optical encoding disc, and the optical encoding disc is encapsulated between the optical encoding PCBA board and the mounting plate of the optical encoding shaft.

[0011] The connection between the outer cylinder of the optical encoder shaft and the mounting plate forms a T shape, so that the outer cylinder forms a flange below the mounting plate, and the flange is higher than the height of the mounting plate to form an installation space for accommodating the optical encoder disk. The flange is close to but does not exceed the edge of the cylindrical outer wall of the optical encoder bracket, thereby making the flange closer to the optical encoder PCBA board.

[0012] In the installation cavity, an annular side wall is provided with an annular embedded installation groove at the installation position corresponding to the outer cylinder; correspondingly, the edge of the outer cylinder is provided with a protruding structure that can be connected to the embedded installation groove, so that a labyrinth sealing structure is formed between the outer cylinder and the annular side wall.

[0013] In the installation cavity, a concave annular groove is further provided on the surface of the installation plate, and the annular groove corresponds to the area between the cylindrical inner wall of the optical encoder support and the outer cylinder of the optical encoder shaft.

[0014] An annular cleaning groove is provided on the lower surface of the mounting plate near the outer cylinder.

[0015] The optical encoder PCBA board is provided with a positioning hole that is butted with the cylindrical outer wall of the optical encoder bracket, and the optical encoder PCBA board and the cylindrical outer wall are connected by positioning screws.

[0016] The high-speed end optical encoding assembly also includes an optical encoding protection disk connected to the outside of the optical encoding disk and used to fix the optical encoding disk to the mounting plate.

[0017] The outer diameter of the optical coding protection plate is smaller than that of the optical encoding plate, and the inner diameter is equal to the inner diameter of the optical encoding plate. The optical coding protection plate is provided with a plurality of mounting screws, which pass through the optical encoding plate and are connected to the mounting plate.

[0018] A step fixing structure is also provided at the center of the optical encoder shaft, which is used to be fixedly connected to the high-speed end motor shaft by screws.

[0019] A wire protection rubber ring is provided at the center of the magnetic braiding bracket of the low-speed end magnetic braiding assembly, and a wire harness fixing clamp is provided on the side edge of the magnetic braiding bracket.

[0020] The utility model also provides a collaborative robot joint structure, including a robot joint, a high-speed end motor and a collaborative robot joint encoder, wherein the high-speed end motor is placed in the robot joint, and the high-speed end optical encoder assembly is installed on the high-speed end motor shaft by screws.

[0021] The utility model provides a collaborative robot joint encoder and joint structure, which can effectively avoid the risk of optical encoding disk contamination, and optimize the low-speed end encoder and other component structures in the joint, making the joint structure more reasonable and simple to disassemble and maintain; at the same time, it also optimizes the connection method between the encoder and the high-speed shaft, so that the joint operation performance and life are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the brake of the high-speed optical wiring assembly described in the embodiment of the utility model;

[0023] Figure 2 It is a cross-sectional structural diagram of the high-speed optical wiring assembly described in an embodiment of the utility model;

[0024] Figure 3 It is a schematic cross-sectional structure diagram of the optical braided rotating shaft according to an embodiment of the utility model;

[0025] Figure 4 This is a schematic cross-sectional view of the optical braiding bracket according to an embodiment of the utility model;

[0026] Figure 5 It is a structural schematic diagram of the low-speed end magnetic braiding assembly according to an embodiment of the utility model;

[0027] Figure 6It is a structural schematic diagram of the robot joint structure described in an embodiment of the utility model.

[0028] In the figure:

[0029] 10-high-speed optical braiding assembly; 11-optical braiding bracket; 12-optical braiding shaft; 13-optical braiding bearing; 14-optical encoding disk; 15-optical braiding PCBA board; 16-optical braiding protection disk;

[0030] 111-cylindrical inner wall; 112-annular side wall; 113-cylindrical outer wall;

[0031] 121-outer cylinder; 122-mounting plate; 123-step fixing structure;

[0032] 1121-embedded installation slot; 1211-protruding structure; 1221-annular slot; 1222-cleaning slot;

[0033] 20-low speed end magnetic braiding assembly; 21-magnetic braiding bracket; 22-wire protection rubber ring; 23-wire harness fixing position;

[0034] 30-Robot joints. DETAILED DESCRIPTION

[0035] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the specific implementation methods of the utility model are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the utility model. However, the utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the utility model, so the utility model is not limited by the specific embodiments disclosed below.

[0036] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0038] like Figure 1-4As shown, the utility model provides a collaborative robot joint encoder, including a high-speed end optical encoder component 10 and a low-speed end magnetic encoder component 20 that are connected in a matching manner, and the low-speed end magnetic encoder component 20 is coaxially connected with the high-speed end optical encoder component 10;

[0039] The high-speed optical coding assembly 10 includes: an optical coding support 11, an optical coding shaft 12, an optical coding bearing 13, an optical coding disk 14 and an optical coding PCBA board 15, wherein the optical coding bearing 13 is installed between the optical coding support 11 and the optical coding shaft 12, wherein the optical coding support 11 includes a cylindrical inner wall 111, a cylindrical outer wall 113 and an annular side wall 112, and the annular side wall 112 connects the cylindrical inner wall 111 and the cylindrical outer wall 113, so that the cross section of the optical coding support 11 forms a U-shaped installation groove;

[0040] The optical axis 12 includes an outer cylinder 121 and a mounting plate 122. The mounting plate 122 is located in the outer cylinder 121, and a shaft center hole coaxial with the outer cylinder 121 is provided at the center of the mounting plate 122. The outer diameter of the outer cylinder 121 is smaller than the inner diameter of the cylindrical outer wall 113, but larger than the outer diameter of the cylindrical inner wall 111, and the distance between the outer cylinder 121 and the cylindrical outer wall 113 is closer.

[0041] The optical bearing installation cavity is formed by the cylindrical inner wall 111 of the optical support 11, the annular side wall 112, the outer cylinder 121 of the optical shaft 12, and the installation plate 122; the optical bearing 13 is installed in the optical bearing installation cavity, and the inner ring of the optical bearing 13 is fixedly connected to the cylindrical inner wall 111 of the optical support 11, and the outer ring of the optical bearing 13 is fixedly connected to the outer cylinder 121 of the optical shaft 12;

[0042] The optical encoding disk 14 is installed on the mounting plate 122 of the optical encoding shaft 12; the optical encoding PCBA board 15 is installed on the optical encoding bracket 11 outside the optical encoding disk 14, and the optical encoding disk 14 is encapsulated between the optical encoding PCBA board 15 and the mounting plate 122 of the optical encoding shaft 12.

[0043] The collaborative robot joint encoder provided in this embodiment has a mounting cavity for installing an optical encoder bearing in its high-speed end optical encoder component, and the optical encoder disk 14 is fixedly installed on the mounting plate 122 of the optical encoder shaft 12, and the optical encoder bearing 13 and the optical encoder disk 14 are separated by the outer cylinder 121 on the outer side of the mounting plate 12, so that the lubricating oil stains of the optical encoder bearing 13 are not easy to enter the optical encoder disk 14; at the same time, the optical encoder PCBA board 15 is packaged and connected with the optical encoder bracket 11, thereby preventing external friction debris and particles from entering the optical encoder disk 14, thereby ensuring that the optical encoder disk 14 can work safely and stably.

[0044] When assembling the joint of the collaborative robot, the high-speed optical coding component 10 and the low-speed magnetic coding component 20 are pre-installed. When assembling the high-speed optical coding component 10, the optical coding component shaft and the optical coding component bracket are connected through the optical coding bearing 13. The optical coding shaft 12 is the high-speed end of the component, which is not only connected to the motor high-speed shaft, but also plays the role of supporting the optical encoding disk 14. The optical coding bracket 11 plays the role of fixing the entire component and the optical coding PCBA board 15. The entire high-speed optical coding component 10 is locked on the joint by screws. The optical coding PCBA board 15 is fixed on the optical coding bracket 11, and the optical coding disk 14 reader is designed on it. The shape of the optical coding PCBA board 15 is approximately a full circle with a through hole in the center. After being installed on the optical coding bracket 11, it forms a cavity with the optical coding bracket 11 and the optical coding shaft 12 to protect the optical coding disk 14 from pollution. When the joint is running, the motor high-speed shaft rotates, driving the optical coding shaft 12 to rotate, and then driving the optical coding disk 14 to rotate.

[0045] The utility model is different from the prior art in that the optical encoder shaft 12 is matched with the outer ring of the optical encoder bearing 13, and the optical encoder bracket 11 is matched with the inner ring of the optical encoder bearing 13, so that the optical encoder bearing 13 can be surrounded and protected to prevent oil leakage from the optical encoder bearing 13 and form a relatively direct channel path between the optical encoder disk 14; a protruding structure 1211 is designed above the optical encoder shaft 12, which is plugged into the embedded mounting groove 1112 on the bracket to form a labyrinth seal, further strengthening the protection against oil leakage of the optical encoder bearing 13 and other contaminants; the outer ring below the optical encoder shaft 12 has a flange that wraps the outer ring of the code disk, and the gap with the inner wall of the joint housing and the optical encoder PCBA board 15 is small, so that less oil seeps out of the optical encoder bearing 13 and flows in, and after flowing in, the probability of oil contamination of the optical encoder disk 14 is reduced due to the blocking of the flange.

[0046] The connection between the outer cylinder 121 of the optical encoder shaft 12 and the mounting plate 122 forms a T shape, so that the outer cylinder 121 forms a flange below the mounting plate 122, and the flange is higher than the height of the mounting plate 122 to form an installation space for accommodating the optical encoder disk 14. The flange is close to but does not exceed the edge of the cylindrical outer wall 113 of the optical encoder bracket 11, so that the flange is closer to the optical encoder PCBA board 15, so that the optical encoder disk 14 can be better sealed.

[0047] In the installation cavity, an annular side wall 112 is provided with an annular embedded installation groove 1112 at the installation position corresponding to the outer cylinder 121; correspondingly, the edge of the outer cylinder 121 is provided with a protruding structure 1211 that can be connected to the embedded installation groove 1112, so that a labyrinth sealing structure is formed between the outer cylinder 121 and the annular side wall 112, thereby performing a good sealing on the optical bearing 13.

[0048] In the installation cavity, the surface of the installation plate 122 is further provided with a concave annular groove 1221, which corresponds to the area between the cylindrical inner wall 111 of the optical fiber bracket 11 and the outer cylinder 121 of the optical fiber rotating shaft 12. The concave structure of the annular groove 1221 allows the concave annular groove 1221 to collect excess lubricating oil on the optical fiber bearing 14 or debris generated by friction.

[0049] The lower surface of the mounting plate 122 is provided with an annular cleaning groove 1222 near the outer cylinder 121. The cleaning groove 1222 arranged around the inner side of the flange root can facilitate the cleaning of dust. When assembling the optical encoder disk 14 to the optical encoder shaft 12, it is necessary to first check whether the code disk is contaminated and perform preliminary cleaning. When cleaning, use a cotton swab to clean from the inside to the outside along the radial direction of the code disk to clean the dirt and dust into the cleaning groove 1222 and clean it in a circle. The cleaning groove 1222 makes the cleaning operation of the code disk simpler and more effective.

[0050] The optical coding PCBA board 15 is provided with a positioning hole that docks with the cylindrical outer wall 113 of the optical coding bracket 11, and the optical coding PCBA board 15 and the cylindrical outer wall 113 are connected by positioning screws. The positioning holes designed for assembly on the optical coding bracket 11 and the optical coding PCBA board 15 can ensure the normal function of the optical coding. The relative position between the optical coding reader and the optical encoder disk 14 has high requirements. When the optical coding PCBA board 15 is installed on the optical coding bracket 11, a positioning tool is used to perform positioning, calibration and installation through the positioning holes on the optical coding PCBA board 15 and the positioning holes on the optical coding bracket 11. The previous structure was that two positioning pins protruded from the top of the bracket, and the PCBA holes and pins were installed in combination. This design has a high processing cost, and the positioning pins are easily damaged inadvertently during transportation and storage. Therefore, the optimized design can achieve the purpose of reducing costs and defective rates.

[0051] The high-speed optical coding assembly 10 also includes an optical coding protection plate 16, which is connected to the outside of the optical coding plate 14 and is used to fix the optical coding plate 14 to the mounting plate 122. When installing the optical coding plate 14, the optical coding plate 14 must be placed on the optical coding shaft 12 first, and the optical coding protection plate 16 must be placed on the optical coding shaft 12 after the holes are aligned. Four screws are passed through the optical coding protection plate 16 and the optical coding plate 14 to lock them to the optical coding shaft 12, and finally the optical coding PCBA board 15 is locked to the optical coding bracket 11. The flange on the outer cylinder 121 has a gap of 0.5 mm with the optical coding PCBA board 15, which further reduces the width of the cavity where the optical coding plate 14 is located and the external channel. When the joint is operating, since the distance between the optical encoder protection disk 16 and the optical encoder PCBA board 15 is small and the channel is narrow, dust, atomized particles generated by the high temperature of the driving board, and other dust in the joint can be blocked outside the optical encoder PCBA board 15 and the optical encoder protection disk 16, and rarely enter and adhere to the optical encoder disk 14.

[0052] The outer diameter of the optical coding protection plate 16 is smaller than the outer diameter of the optical coding plate 14 , and the inner diameter is equal to the inner diameter of the optical coding plate 14 . The optical coding protection plate 16 is provided with a plurality of mounting screws, which pass through the optical coding plate 14 and are connected to the mounting plate 122 .

[0053] The center of the optical encoder shaft is also provided with a step fixing structure 123, which is used to be fixedly connected to the high-speed motor shaft by screws. The step fixing structure 123 is provided with screw holes, and the number of screw holes is usually four. After the optical encoder assembly is assembled, it is installed on the robot joint. First, the optical encoder shaft 12 is locked and connected to the high-speed motor shaft by four screws, and then the optical encoder bracket 11 is screwed to the corresponding position of the joint shell. The previous solution is that the optical encoder shaft 12 and the motor shaft are connected by a rubber elastic coupling. In this connection method, due to the soft texture of the rubber coupling, a certain amount of compression is required when used. There are often tolerances in the processing dimensions of the parts in the joint, and the compression amount is not easy to control. When the compression amount is small, it will cause rotation delay. When the compression amount is large, the rubber parts will be more easily damaged. In addition, during the operation of the joint, uncertain forces will be generated to react on the high-speed motor shaft. These problems will affect the smooth operation of the joint. In addition, with the use of the robot, the elastic coupling wears to a certain extent and fails, and the connection and operation of the encoder and the high-speed motor shaft will also have problems, which will affect the life of the robot. The optimized structure eliminates the rubber coupling and replaces it with a screw connection, thus avoiding the above problems.

[0054] like Figure 5 As shown, the center of the magnetic braiding bracket of the low-speed end magnetic braiding component 20 is provided with a wire protection rubber ring 22, and a wire harness fixing position 23 is provided on the side of the magnetic braiding bracket 21. The appearance of the optical braiding component provided by the utility model optimizes the structure of the magnetic braiding component, making the components more compact after optimization and releasing the space in the joint; the structure of the magnetic braiding mounting bracket is optimized, the wire passing hole in the middle is enlarged and the wire passing protection rubber ring is added, so that the magnetic braiding bracket and other parts of the magnetic braiding are unified to form a barrier component, and the entire component can be installed through the magnetic braiding bracket without disassembling and assembling in sequence; a wire harness fixing position is added to the magnetic braiding bracket, and the wire harness inside the joint passes through the joint and is connected to the joint drive board. After that, it is tightened with a cable tie at this fixed position, making the wiring more reasonable; a wire passing protection rubber ring is installed on the magnetic braiding bracket, so that the wire harness of the joint body will not be scratched and damaged when it scrapes the bracket during the operation of the joint; a magnetic braiding PCBA board installation avoidance hole is reserved, and the magnetic braiding component does not need to remove the magnetic braiding bracket, and the magnetic braiding PCBA board can be directly disassembled and assembled.

[0055] like Figure 6As shown, the utility model also provides a collaborative robot joint structure, including a robot joint 30, a high-speed end motor and a collaborative robot joint encoder, wherein the high-speed end motor is placed in the robot joint, and the high-speed end optical encoder assembly 10 is installed on the high-speed end motor shaft by screws.

[0056] The collaborative robot joint encoder and joint structure provided by the utility model can effectively avoid the risk of optical encoding disk contamination, and optimize the low-speed end encoder and other component structures in the joint, making the joint structure more reasonable and simple to disassemble and maintain; at the same time, it also optimizes the connection method between the encoder and the high-speed shaft, so that the joint operation performance and life are improved.

[0057] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0058] The above embodiments only express several implementation methods of the utility model, and the descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A collaborative robot joint encoder, comprising a high-speed optical encoder component (10) and a low-speed magnetic encoder component (20) that are connected in a matching manner, wherein the low-speed magnetic encoder component (20) is coaxially connected to the high-speed optical encoder component (10); characterized in that: The high-speed optical encoder assembly (10) comprises: an optical encoder support (11), an optical encoder shaft (12), an optical encoder bearing (13), an optical encoder disk (14) and an optical encoder PCBA board (15), wherein the optical encoder bearing (13) is installed between the optical encoder support (11) and the optical encoder shaft (12), wherein the optical encoder support (11) comprises a cylindrical inner wall (111), a cylindrical outer wall (113) and an annular side wall (112), and the annular side wall (112) connects the cylindrical inner wall (111) and the cylindrical outer wall (113), so that the cross section of the optical encoder support (11) forms a U-shaped installation groove; The optically-woven rotating shaft (12) comprises an outer cylinder (121) and a mounting plate (122), wherein the mounting plate (122) is located in the outer cylinder (121), and an axial center hole coaxial with the outer cylinder (121) is provided at the center of the mounting plate (122); the outer diameter of the outer cylinder (121) is smaller than the inner diameter of the cylindrical outer wall (113), but larger than the outer diameter of the cylindrical inner wall (111), and the distance between the outer cylinder (121) and the cylindrical outer wall (113) is closer; An optical bearing installation cavity is formed by the cylindrical inner wall (111) of the optical support (11), the annular side wall (112), the outer cylinder (121) of the optical shaft (12), and the installation plate (122); the optical bearing (13) is installed in the optical bearing installation cavity, and the inner ring of the optical bearing (13) is fixedly connected to the cylindrical inner wall (111) of the optical support (11), and the outer ring of the optical bearing (13) is fixedly connected to the outer cylinder (121) of the optical shaft (12); The optical encoding disk (14) is mounted on a mounting plate (122) of an optical encoding shaft (12); the optical encoding PCBA board (15) is mounted on an optical encoding bracket (11) outside the optical encoding disk (14), and the optical encoding disk (14) is encapsulated between the optical encoding PCBA board (15) and the mounting plate (122) of the optical encoding shaft (12).

2. The collaborative robot joint encoder according to claim 1, characterized in that: The outer cylinder (121) of the optical encoder shaft (12) and the mounting plate (122) are connected to form a T shape, so that the outer cylinder (121) forms a flange below the mounting plate (122), and the flange is higher than the height of the mounting plate (122) to form an installation space for accommodating the optical encoder disk (14), and the flange is close to but does not exceed the edge of the cylindrical outer wall (113) of the optical encoder bracket (11), so that the distance between the flange and the optical encoder PCBA board (15) is closer.

3. The collaborative robot joint encoder according to claim 1, characterized in that: In the installation cavity, a circularly cut embedded installation groove (1112) is provided on the annular side wall (112) at a mounting position corresponding to the outer cylinder (121); correspondingly, the edge of the outer cylinder (121) is provided with a protruding structure (1211) that can be connected to the embedded installation groove (1112), so that a labyrinth sealing structure is formed between the outer cylinder (121) and the annular side wall (112).

4. The collaborative robot joint encoder according to claim 1, characterized in that: In the installation cavity, a concave annular groove (1221) is further provided on the surface of the installation plate (122), and the annular groove (1221) corresponds to the area between the cylindrical inner wall (111) of the optical encoder support (11) and the outer cylinder (121) of the optical encoder shaft (12).

5. The collaborative robot joint encoder according to claim 1, characterized in that: An annular cleaning groove (1222) is provided on the lower surface of the mounting plate (122) near the outer cylinder (121).

6. The collaborative robot joint encoder according to claim 1, characterized in that: A positioning hole is provided on the optical coding PCBA board (15) for docking with the cylindrical outer wall (113) of the optical coding bracket (11), and the optical coding PCBA board (15) and the cylindrical outer wall (113) are connected by positioning screws.

7. The collaborative robot joint encoder according to claim 1, characterized in that: The high-speed optical encoding assembly (10) further comprises an optical encoding protection disk (16) connected to the outside of the optical encoding disk (14) and used for fixing the optical encoding disk (14) to the mounting plate (122); The outer diameter of the optical coding protection disk (16) is smaller than the outer diameter of the optical coding disk (14), and the inner diameter is equal to the inner diameter of the optical coding disk (14). The optical coding protection disk (16) is provided with a plurality of mounting screws, which pass through the optical coding disk (14) and are connected to the mounting plate (122).

8. The collaborative robot joint encoder according to claim 7, characterized in that: A step fixing structure (123) is also provided at the center of the optical encoder shaft, which is used to be fixedly connected to the high-speed end motor shaft by screws.

9. The collaborative robot joint encoder according to claim 1, characterized in that: A wire protection rubber ring is provided at the center of the magnetic braiding bracket of the low-speed end magnetic braiding assembly (20), and a wire harness fixing clamp is provided on the side edge of the magnetic braiding bracket.

10. A collaborative robot joint structure, characterized in that: It comprises a robot joint, a high-speed end motor and a collaborative robot joint encoder as described in any one of claims 1 to 9, wherein the high-speed end motor is placed in the robot joint, and the high-speed end optical encoding component (10) is mounted on the high-speed end motor shaft by screws.

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