Encoder, mounting structure and mounting tool thereof, and motor module

Abstract

The utility model provides an encoder, an installation structure and an installation tool thereof, and a motor module, the encoder comprises an installation support, the installation support comprises a first installation part and a second installation part which are connected with each other, the first installation part is used for installing a magnetic ring, and the second installation part is suitable for being sleeved on a motor shaft, at least one of the first installation part and the second installation part is provided with a first clamping structure used for being matched with an encoder installation tool in a clamping mode. The magnetic ring is installed on the first installation part, then the second installation part is arranged on the motor shaft in a sleeving mode, the magnetic ring and the motor shaft are relatively fixed, the magnetic ring rotates along with the motor shaft, installation steps are simplified, and installation is convenient; and meanwhile, the first clamping structure is arranged on the mounting bracket and can be clamped with an encoder mounting tool, so that the lengthened torque can be provided by using the mounting tool, the second mounting part can be conveniently sleeved on the motor shaft for mounting, the mounting process is more convenient and labor-saving, and the mounting efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an encoder and a mounting structure and mounting tooling thereof and a motor module. Background Art

[0002] Encoders usually need to be fixed to some specific parts of the machine. During the process of fixing the encoders, it is also necessary to ensure that they are installed correctly to ensure their accuracy and reliability. In the prior art, multiple screws or other fastening devices are generally used to fix encoders to machine parts and ensure that they are aligned to the correct position. The installation process is cumbersome, inconvenient, and inefficient. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the related art. To this end, the utility model proposes an encoder installation structure, which aims to improve the convenience of encoder installation and facilitate installation.

[0004] An embodiment of the second aspect of the utility model provides an encoder.

[0005] An embodiment of a third aspect of the present utility model provides a motor module.

[0006] An embodiment of a fourth aspect of the utility model provides an encoder installation tool.

[0007] According to the first aspect of the present invention, the encoder installation structure of the embodiment includes:

[0008] The mounting bracket comprises a first mounting portion and a second mounting portion connected to each other, wherein the first mounting portion is used to mount the magnetic ring, and the second mounting portion is suitable for being sleeved on the motor shaft;

[0009] Wherein, at least one of the first mounting portion and the second mounting portion is provided with a first clamping structure, and the first clamping structure is suitable for clamping and cooperating with the encoder mounting tooling.

[0010] The encoder mounting structure of the embodiment of the utility model includes a mounting bracket, and the mounting bracket includes a first mounting part and a second mounting part connected to each other, the first mounting part is used to mount the magnetic ring, and the second mounting part is suitable for being sleeved on the motor shaft, wherein at least one of the first mounting part and the second mounting part is provided with a first clamping structure for clamping and cooperating with the encoder mounting tooling. By mounting the magnetic ring on the first mounting part and then sleeved on the motor shaft, the magnetic ring and the motor shaft are relatively fixed, and rotate with the motor shaft, which simplifies the installation steps and facilitates installation; at the same time, the mounting bracket is provided with a first clamping structure, which can be clamped with the encoder mounting tooling, and by using the mounting tooling, an extended torque can be provided, which facilitates the sleeved installation of the second mounting part on the motor shaft for installation, making the installation process more convenient and labor-saving, and improving the installation efficiency.

[0011] According to the encoder mounting structure of the embodiment of the utility model, there are multiple first clamping structures, and the multiple first clamping structures are arranged along the circumference of the mounting bracket.

[0012] According to the encoder mounting structure of the embodiment of the utility model, the first mounting portion and the second mounting portion are integrally formed.

[0013] According to the encoder installation structure of the embodiment of the utility model, the first installation portion is formed with an installation groove for installing the magnetic ring, and the central axis of the installation groove is on the same axis as the central axis of the second installation portion; or,

[0014] The mounting bracket is provided with an arc-shaped positioning portion, and the arc-shaped positioning portion is suitable for abutting against the inner ring or the outer ring of the magnetic ring.

[0015] According to the encoder mounting structure of the embodiment of the utility model, there are multiple arc-shaped positioning parts, and the multiple arc-shaped positioning parts are arranged along the circumference of the mounting bracket.

[0016] According to an embodiment of the second aspect of the present utility model, there is provided an encoder, comprising:

[0017] The encoder installation structure described in any one of the above embodiments;

[0018] A magnetic ring, installed in the middle of the encoder installation structure;

[0019] The sensor is arranged corresponding to the magnetic ring and is used to detect the rotation state of the magnetic ring.

[0020] According to the third aspect of the present invention, the motor module includes:

[0021] The motor body includes a motor housing and a motor shaft that rotate relative to each other;

[0022] In the encoder described in the above embodiment, the sensor is installed on the motor housing, the second mounting portion is sleeved on the motor shaft, and the magnetic ring is fixed relative to the motor shaft.

[0023] According to the motor module of the embodiment of the utility model, the second mounting portion is threadedly connected to the motor shaft.

[0024] According to the motor module of the embodiment of the utility model, the motor shaft is provided with a positioning step, the second mounting portion is sleeved on the motor shaft, and one end of the second mounting portion abuts against the positioning step; or,

[0025] One of the motor shaft and the encoder mounting structure is provided with a positioning protrusion, and the other is provided with a positioning groove matched with the positioning protrusion. The positioning protrusion is inserted into the positioning groove, and the end face of the encoder mounting structure abuts against the end face of the motor shaft.

[0026] According to the fourth aspect of the present invention, the encoder installation tool is used to assist in installing the encoder installation structure described in any one of the above embodiments, including:

[0027] A tool body, at least one end of which is formed with a second clamping structure, wherein the second clamping structure is suitable for clamping and cooperating with the first clamping structure of the encoder mounting structure.

[0028] According to the encoder installation tooling of the embodiment of the utility model, there are multiple second clamping structures, and the multiple second clamping structures are arranged along the circumference of the tooling body.

[0029] According to the encoder installation tool in the embodiment of the utility model, the tool body is provided with an opening for cooperating with a lever to rotate the tool body.

[0030] According to the robot of the fifth aspect of the utility model, the robot comprises the encoder mounting structure described in any one of the above embodiments, or the encoder described in the above embodiments, or the motor module described in any one of the above embodiments.

[0031] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 This is a schematic diagram of the installation of the encoder installation structure provided by the embodiment of the utility model. Figure 1 ;

[0034] Figure 2 This is a schematic diagram of the installation of the encoder installation structure provided by the embodiment of the utility model. Figure 2 ;

[0035] Figure 3 This is an exploded view of the mounting bracket and magnetic ring provided in the embodiment of the utility model. Figure 1 ;

[0036] Figure 4 This is an exploded view of the mounting bracket and magnetic ring provided in the embodiment of the utility model. Figure 2 ;

[0037] Figure 5 It is an exploded schematic diagram of a motor module provided by an embodiment of the utility model;

[0038] Figure 6 is a cross-sectional schematic diagram of a motor module provided by an embodiment of the utility model;

[0039] Figure 7 yes Figure 6 A local enlarged schematic diagram of the middle A;

[0040] Figure 8 It is a schematic diagram of the installation of the mounting bracket provided in the embodiment of the utility model.

[0041] Reference numerals:

[0042] 100, mounting bracket; 110, first mounting portion; 120, second mounting portion; 130, first clamping structure; 140, arc-shaped positioning portion; 150, positioning protrusion; 160, threaded through hole;

[0043] 200, magnetic ring;

[0044] 300, sensor;

[0045] 400, motor body; 410, motor housing; 420, motor shaft; 421, positioning step; 422, positioning groove; 423, threaded hole;

[0046] 500, tool body; 510, second clamping structure; 520, opening. DETAILED DESCRIPTION

[0047] The following is a further detailed description of the implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0048] In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "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 embodiments of the present utility model 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 embodiments of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0049] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0050] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0051] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model embodiment. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0052] The embodiments of the present utility model refer to Figure 1-Figure 8As shown, an encoder and its mounting structure and mounting tooling, a motor module and a robot are provided.

[0053] According to an embodiment of the present utility model, please refer to Figure 1 , Figure 2 and Figure 5 According to the encoder mounting structure of the embodiment of the utility model, it includes a mounting bracket 100, and the mounting bracket 100 includes a first mounting portion 110 and a second mounting portion 120 connected to each other, the first mounting portion 110 is used to install the magnetic ring 200, and the second mounting portion 120 is suitable for being sleeved on the motor shaft 420; wherein, at least one of the first mounting portion 110 and the second mounting portion 120 is provided with a first clamping structure 130, and the first clamping structure 130 is suitable for clamping and cooperating with the second clamping structure 510 of the encoder mounting tooling.

[0054] It can be understood that, in the present embodiment, the mounting bracket 100 includes a first mounting portion 110 and a second mounting portion 120, the first mounting portion 110 is used to mount the magnetic ring 200, and the second mounting portion 120 can be in the shape of a sleeve, the size and shape of which are adapted to the size and shape of the motor shaft 420, and can be sleeved on the motor shaft 420, wherein, by mounting the magnetic ring 200 on the first mounting portion 110 and then sleeved on the motor shaft 420, the relative fixation of the magnetic ring 200 and the motor shaft 420 is achieved, so that the magnetic ring 200 rotates with the motor shaft 420, thereby simplifying the installation steps and facilitating the installation.

[0055] On the other hand, at least one of the first mounting portion 110 and the second mounting portion 120 is provided with a first clamping structure 130, and the first clamping structure 130 is suitable for clamping with the second clamping structure 510 of the encoder installation tool. The first clamping structure 130 is provided on the mounting bracket 100, and can be clamped with the encoder installation tool. In order to reduce the space occupied by the encoder, the encoder is generally designed to be small and inconvenient to install. Therefore, in this embodiment, by using the encoder installation tool, an extended torque can be provided, which facilitates the second mounting portion 120 to be more easily mounted on the motor shaft 420 for installation, making the installation process more convenient and labor-saving, and improving the installation efficiency.

[0056] In this embodiment, the mounting bracket 100 can be snap-connected with the encoder mounting tooling, and can provide very precise positioning and alignment functions to ensure the position and alignment of the connecting components, and the connection is firm and easy to install and disassemble.

[0057] In an optional embodiment, the first mounting portion 110 is provided with a first clamping structure 130, and the first mounting portion 110 is clamped with the encoder mounting tooling; in another optional embodiment, the second mounting portion 120 is provided with a first clamping structure 130, and the second mounting portion 120 is clamped with the encoder mounting tooling; in another optional embodiment, both the first mounting portion 110 and the second mounting portion 120 are provided with a first clamping structure 130, which can be designed according to actual application requirements, as long as it can realize the clamping connection between the mounting bracket 100 and the encoder mounting tooling, and this embodiment does not make any specific limitation on this.

[0058] It can be understood that the structural form of the first snap-fit ​​structure 130 includes but is not limited to a snap-fit ​​portion and a snap-fit ​​groove, etc. For example, a snap-fit ​​portion can be provided on the mounting bracket 100, and a snap-fit ​​groove can be provided on the encoder mounting tooling, or a snap-fit ​​groove can be provided on the mounting bracket 100, and a snap-fit ​​portion can be provided on the encoder mounting tooling, or a snap-fit ​​portion and a snap-fit ​​groove can be provided on both the mounting bracket 100 and the encoder mounting tooling. As long as it can realize the snap-fit ​​cooperation between the encoder mounting structure and the encoder mounting tooling, the specific implementation method is not specifically limited in this embodiment.

[0059] According to one embodiment of the present invention, referring to Figure 3 and Figure 4 As shown, there are multiple first clamping structures 130 , and the multiple first clamping structures 130 are arranged along the circumference of the mounting bracket 100 .

[0060] It can be understood that by setting up multiple first clip structures 130, the contact area between the connecting parts can be increased, the stability and firmness of the connection can be improved, and the installation bracket 100 can be effectively prevented from moving or loosening during the assembly process; by setting up multiple first clip structures 130 along the circumferential direction, the load can be evenly distributed to each first clip structure 130, reducing the torque and pressure borne by a single first clip structure 130, and improving the strength and durability of the overall connection.

[0061] In an optional embodiment, there are multiple first clip structures 130, and the multiple first clip structures 130 are arranged along the circumference of the first mounting portion 110. In another optional embodiment, there are multiple first clip structures 130, and the multiple first clip structures 130 are arranged along the circumference of the second mounting portion 120. This embodiment does not make any specific limitations on this.

[0062] According to one embodiment of the present invention, referring to Figure 3 and Figure 4 As shown, the first mounting portion 110 and the second mounting portion 120 are integrally formed.

[0063] It can be understood that in this embodiment, the first mounting portion 110 and the second mounting portion 120 are integrally formed to form an integral component, thereby improving the structural strength and rigidity of the mounting bracket 100, and the integrally formed component can be directly installed, thereby simplifying the assembly process and reducing the assembly complexity; and due to the integrally formed design, the alignment and connection between the first mounting portion 110 and the second mounting portion 120 are very precise and stable, which can ensure the accuracy and reliability of the installation positioning; it can also reduce the connection points and additional accessories between the components, thereby reducing the weight and occupied space, and is particularly suitable for miniaturized structures such as robots.

[0064] According to one embodiment of the present invention, referring to Figure 4 As shown, the first mounting portion 110 is formed with a mounting groove (not shown in the figure) for mounting the magnetic ring 200, and the central axis of the mounting groove is on the same axis as the central axis of the second mounting portion 120; or, the mounting bracket 100 is provided with an arc-shaped positioning portion 140, and the arc-shaped positioning portion 140 is suitable for abutting against the inner ring or outer ring of the magnetic ring 200.

[0065] In an optional embodiment, the first mounting portion 110 is formed with a mounting groove, and the magnetic ring 200 can be snapped into the mounting groove. By forming the mounting groove in the middle of the first mounting portion 110, and snapping the magnetic ring 200 into the mounting groove, the magnetic ring 200 can be positioned and installed in the center of the first mounting portion 110, thereby ensuring the accuracy of the installation position of the magnetic ring 200. In addition, this design can also facilitate the installation and removal of the magnetic ring 200. By snapping the magnetic ring 200 into the mounting groove, the installation process can be simplified and the installation efficiency can be improved. If the magnetic ring 200 needs to be replaced or repaired, the magnetic ring 200 can also be easily removed without large-scale disassembly of the entire structure.

[0066] In another optional embodiment, an arc-shaped positioning portion 140 is provided on the mounting bracket 100. The arc-shaped positioning portion 140 can abut against the inner ring or the outer ring of the magnetic ring 200 to ensure that the position of the magnetic ring 200 on the mounting bracket 100 is accurate and stable. Through the design of the arc-shaped positioning portion 140, the installation of the magnetic ring 200 can be more convenient because the arc-shaped positioning portion 140 can play a guiding role, and the installer can place the magnetic ring 200 on the mounting bracket 100 more accurately.

[0067] It can be understood that the arc-shaped positioning portion 140 can be set on the first mounting portion 110, or on the second mounting portion 120, and can also be an integrally formed structure with the first clip structure 130, which simplifies the structural design, reduces the number of components, reduces assembly complexity, and improves the reliability and stability of the mounting bracket 100.

[0068] In other embodiments, the magnetic ring 200 may also be adhered to the first mounting portion 110 by glue to ensure a firm connection and avoid loosening during use.

[0069] According to one embodiment of the present invention, referring to Figure 4 As shown, there are multiple arc-shaped positioning portions 140 , and the multiple arc-shaped positioning portions 140 are arranged along the circumference of the mounting bracket 100 .

[0070] It can be understood that in this embodiment, by providing multiple arc-shaped positioning portions 140, the contact area between the magnetic ring 200 and the mounting bracket 100 can be increased, providing a more stable positioning effect, which can reduce the shaking or displacement of the magnetic ring 200 during the installation process, ensure the stability of its position, and reduce the overall positioning deviation caused by the error of a single positioning portion. Even if there is an error in one of the positioning portions, the other positioning portions can still maintain the accurate position of the magnetic ring 200.

[0071] It is easy to understand that the multiple arc-shaped positioning parts 140 can be evenly arranged along the circumference of the mounting bracket 100, which can achieve uniform positioning of the magnetic ring 200, avoid the magnetic ring 200 from being subjected to uneven forces or pressures during installation, disperse the load, and improve the stability and reliability of the system. The multiple arc-shaped positioning parts 140 can also be unevenly arranged along the circumference of the mounting bracket 100, and this embodiment does not specifically limit this.

[0072] Another embodiment of the utility model provides an encoder, referring to Figure 5 As shown, it includes the encoder mounting structure of any one of the above embodiments, a magnetic ring 200 and a sensor 300, the magnetic ring 200 is installed in the middle of the first mounting part 110, and the sensor 300 is arranged corresponding to the magnetic ring 200 for detecting the rotation state of the magnetic ring 200.

[0073] In this embodiment, the rotation state of the magnetic ring 200 may include the rotation speed and rotation position information of the magnetic ring 200. The sensor 300 may be a Hall element, a magnetoresistive element or a magnetoresistive element, etc. The rotation speed and rotation angle of the magnetic ring 200 can be determined by detecting the changes in the magnetic field during the rotation of the magnetic ring 200.

[0074] In an alternative embodiment, reference Figure 3 and Figure 4 As shown, the magnetic ring 200 is provided with a plurality of first magnetic poles and second magnetic poles, and the first magnetic poles and the second magnetic poles are alternately arranged along the circumference of the magnetic ring 200. Optionally, the first magnetic pole is an N pole, and the second magnetic pole is an S pole.

[0075] In an optional embodiment, the magnetic ring 200 is provided with a plurality of first magnetic poles and a plurality of second magnetic poles, and the first magnetic poles and the second magnetic poles are alternately arranged, and the polarities of two adjacent magnetic poles are different, that is, the encoder is a multi-pole encoder, which can provide a higher encoder resolution, improve the detection accuracy of the encoder, and can also reduce errors caused by changes in the external magnetic field or other interferences to a certain extent.

[0076] In some embodiments, the magnetic ring 200 can also be provided with two rings or multiple rings, each ring can be provided with multiple first magnetic poles and second magnetic poles, and the corresponding arrangement angles of the first magnetic poles and the second magnetic poles between two adjacent rings are different, providing higher resolution for the encoder detection and further improving the detection accuracy.

[0077] It can be understood that if the encoder installation structure has the beneficial effects of the above embodiment, then the encoder will correspondingly have the beneficial effects of the above embodiment, and its specific implementation can refer to the above embodiment, which will not be described in detail in this embodiment.

[0078] The embodiment of another aspect of the present invention is as follows: Figure 5 and Figure 6 As shown, a motor module is provided, including a motor body 400 and the encoder of the above embodiment, the motor body 400 includes a motor shell 410 and a motor shaft 420 that rotate relative to each other, the encoder sensor 300 is installed on the motor shell 410, the second mounting part 120 is sleeved on the motor shaft 420, and the magnetic ring 200 is fixed relative to the motor shaft 420.

[0079] In this embodiment, the rotation speed and rotation angle of the motor shaft 420 can be detected by the encoder. During the rotation of the motor shaft 420, the sensor 300 can sense the changes in the magnetic field of the magnetic ring 200 and convert it into electrical signals. By measuring the changes in these electrical signals, the rotation speed and rotation angle of the motor shaft 420 can be calculated, and these measurement results can be used for control and feedback to achieve more precise motion control and positioning accuracy of the motor shaft 420. It is widely used in various application fields that require precision motion control, such as mechanical processing, automation systems, robots, etc.

[0080] According to one embodiment of the present invention, referring to Figure 7 As shown, the second mounting portion 120 is threadedly connected to the motor shaft 420 .

[0081] It is understandable that, in the present embodiment, the second mounting portion 120 and the motor shaft 420 are threadedly connected, that is, one of the second mounting portion 120 and the motor shaft 420 is provided with an internal thread, and the other is provided with an external thread that matches each other, and the second mounting portion 120 is threadedly connected to the motor shaft 420, and the threaded connection can provide a firm connection between the second mounting portion 120 and the motor shaft 420, and can ensure the coaxiality between the second mounting portion 120 and the motor shaft 420, avoid the deviation between the second mounting portion 120 and the motor shaft 420, thereby ensuring the accuracy and stability of the system. And the threaded connection can allow the position of the second mounting portion 120 relative to the motor shaft 420 to be adjusted, so as to achieve more accurate positioning, and facilitate fine-tuning or calibration of the encoder. The threaded connection can also provide a safer connection to avoid loosening or falling off between the second mounting portion 120 and the motor shaft 420.

[0082] It should be noted that, in this embodiment, the coaxial positioning of the second mounting portion 120 and the motor shaft 420 can be achieved through threaded connection.

[0083] According to one embodiment of the present invention, referring to Figure 7 As shown, the motor shaft 420 is provided with a positioning step 421, the second mounting portion 120 is sleeved on the motor shaft 420, and one end of the second mounting portion 120 abuts against the positioning step 421; or refer to Figure 8 As shown, one of the motor shaft 420 and the encoder mounting structure is provided with a positioning protrusion 150, and the other is provided with a positioning groove 422 cooperating with the positioning protrusion 150, the positioning protrusion 150 is inserted in the positioning groove 422, and the end face of the encoder mounting structure, i.e., the mounting bracket 100, is suitable for abutting against the end face of the motor shaft 420.

[0084] In an optional embodiment, the motor shaft 420 is provided with a positioning step 421. During the assembly process, the second mounting portion 120 is sleeved on the motor shaft 420 and screwed in until one end of the second mounting portion 120 abuts against the positioning step 421, indicating that the encoder has been installed in place, which can ensure that the encoder is correctly installed in place, provide a reliable installation guarantee for the encoder, and avoid incorrect or loose installation. The positioning step 421 can also be used to limit the axial position of the mounting bracket 100, which can ensure that the position of the mounting bracket 100 on the motor shaft 420 is accurate and stable, provide a stable connection for the mounting bracket 100, and improve the accuracy and stability of the encoder.

[0085] In another optional embodiment, one of the motor shaft 420 and the mounting bracket 100 is provided with a positioning protrusion 150, and the other is provided with a positioning groove 422 that cooperates with the positioning protrusion 150. The positioning protrusion 150 is inserted into the positioning groove 422, and the end face of the mounting bracket 100 abuts against the end face of the motor shaft 420. In this embodiment, the positioning protrusion 150 and the positioning groove 422 can both be annular to achieve coaxial positioning of the motor shaft 420 and the mounting bracket 100. During the installation process, the second mounting portion 120 is sleeved on the motor shaft 420 and screwed in until the end face of the second mounting portion 120 abuts against the end face of the motor, indicating that the encoder has been installed in place.

[0086] Further, refer to Figure 8 As shown, the end face of the motor shaft 420 is provided with a plurality of threaded holes 423, and the plurality of threaded holes 423 are arranged along the circumference of the motor shaft 420. The mounting bracket 100 is also correspondingly provided with threaded through holes 160 along the circumference. After the mounting bracket 100 is installed in place, the mounting bracket 100 and the motor shaft 420 can be fixed by fasteners such as screws to fix the encoder so that the magnetic ring 200 and the motor shaft 420 can rotate synchronously.

[0087] The embodiment of another aspect of the present invention is as follows: Figure 1 and Figure 2 As shown, an encoder installation tool is provided for assisting the installation of the encoder installation structure of any of the above-mentioned embodiments, including a tool body 500, at least one end of which is formed with a second clip structure 510, and the second clip structure 510 is suitable for clipping with the first clip structure 130 of the encoder installation structure.

[0088] It can be understood that at least one end of the tooling body 500 in this embodiment is formed with a second clip structure 510, and the second clip structure 510 can be clipped and cooperated with the first clip structure 130 of the encoder mounting structure. By twisting the encoder mounting structure through the encoder mounting tooling, an extended torque can be provided, which makes it easier to install the second mounting part 120 on the motor shaft 420, making the installation process more convenient and labor-saving, and improving the installation efficiency.

[0089] In an optional embodiment, the first clamping structure 130 is a groove, and the second clamping structure 510 is a protrusion. When it is necessary to use the encoder installation tool to sleeve the second mounting portion 120 on the motor shaft 420, the protrusion can be inserted into the groove to achieve relative fixation of the mounting bracket 100 and the tool body 500. At this time, you only need to rotate the tool body 500 to screw the second mounting portion 120 of the mounting bracket 100 into the motor shaft 420, which is convenient for installation and simple to operate.

[0090] According to one embodiment of the present invention, referring to Figure 1 and Figure 2 As shown, there are multiple second clamping structures 510 , and the multiple second clamping structures 510 are arranged along the circumference of the tool body 500 .

[0091] It can be understood that in this embodiment, by setting up multiple second clip structures 510, the contact area between the connecting parts can be increased, the stability and firmness of the connection can be improved, and the tooling body 500 and the mounting bracket 100 can be effectively prevented from moving or loosening during the assembly process; by setting up multiple second clip structures 510 along the circumferential direction, the load can be evenly distributed to each second clip structure 510, reducing the torque and pressure borne by a single second clip structure 510, and improving the strength and durability of the overall connection.

[0092] It is understandable that the number of the first clamping structure 130 and the second clamping structure 510 can both be multiple, and the first clamping structure 130 and the second clamping structure 510 can be arranged in a one-to-one correspondence to achieve a reliable connection between the mounting bracket 100 and the tooling body 500.

[0093] According to one embodiment of the present invention, referring to Figure 1 and Figure 2 As shown, the tool body 500 is provided with an opening 520 for cooperating with a lever to rotate the tool body 500 .

[0094] It can be understood that in this embodiment, by opening the opening 520 on the tooling body 500 and inserting a lever therein, an additional leverage point can be provided, so that when the tooling body 500 needs to be adjusted or twisted, the power of the lever can be used to achieve a greater torque, thereby making it easier to rotate the tooling body 500.

[0095] The insertion of the lever provides the tool body 500 with a rotation point, making it easier to operate. The user can rotate the tool body 500 by moving the lever up or down. By applying less force to the lever, the tool body 500 can be precisely adjusted or tightened, thereby facilitating the tightening and installation of the mounting bracket 100.

[0096] In an optional embodiment, the opening 520 is arranged at one end of the tooling body 500 away from the second clamping structure 510, that is, the opening 520 is arranged at one end of the tooling body 500 away from the mounting bracket 100, which can provide an extended torque and make it more convenient to screw the mounting bracket 100.

[0097] In an optional embodiment, the middle of the tool body 500 is hollow, and the opening 520 is provided through the tool body 500 to facilitate the insertion of the lever into the opening 520 .

[0098] Another embodiment of the utility model provides a robot, comprising the encoder installation structure of any one of the above embodiments, or the encoder of the above embodiments, or the motor module of any one of the above embodiments.

[0099] It can be understood that if the encoder mounting structure, encoder, and motor module have the beneficial effects of the above embodiments, then the robot will correspondingly have the beneficial effects of the above embodiments. The specific implementation methods thereof may refer to the above embodiments, and this embodiment does not make any specific limitation on this.

[0100] Finally, it should be noted that the above implementation modes are only used to illustrate the present invention, rather than to limit the present invention. Although the present invention is described in detail with reference to the embodiments, a person skilled in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present invention do not deviate from the spirit and scope of the technical solutions of the present invention, and should be included in the protection scope of the present invention.

Claims

1. An encoder installation structure, characterized in that: include: The mounting bracket comprises a first mounting portion and a second mounting portion connected to each other, wherein the first mounting portion is used to mount the magnetic ring, and the second mounting portion is suitable for being sleeved on the motor shaft; Wherein, at least one of the first mounting portion and the second mounting portion is provided with a first clamping structure, and the first clamping structure is suitable for clamping and cooperating with the encoder mounting tooling.

2. The encoder installation structure according to claim 1, characterized in that: There are multiple first clamping structures, and the multiple first clamping structures are arranged along the circumference of the mounting bracket.

3. The encoder installation structure according to claim 1, characterized in that: The first mounting portion and the second mounting portion are integrally formed.

4. The encoder installation structure according to any one of claims 1 to 3, characterized in that: The first mounting portion is formed with a mounting groove for mounting the magnetic ring, and the central axis of the mounting groove is coaxial with the central axis of the second mounting portion; or, The mounting bracket is provided with an arc-shaped positioning portion, and the arc-shaped positioning portion is suitable for abutting against the inner ring or the outer ring of the magnetic ring.

5. The encoder installation structure according to claim 4, characterized in that: There are multiple arc-shaped positioning portions, and the multiple arc-shaped positioning portions are arranged along the circumference of the mounting bracket.

6. An encoder, characterized in that include: The encoder mounting structure according to any one of claims 1 to 5; A magnetic ring, installed in the middle of the first installation part; The sensor is arranged corresponding to the magnetic ring and is used to detect the rotation state of the magnetic ring.

7. A motor module, characterized in that: include: The motor body includes a motor housing and a motor shaft that rotate relative to each other; In the encoder described in claim 6, the sensor is mounted on the motor housing, the second mounting portion is sleeved on the motor shaft, and the magnetic ring is fixed relative to the motor shaft.

8. The motor module according to claim 7, characterized in that: The second mounting portion is threadedly connected to the motor shaft.

9. The motor module according to claim 7, characterized in that: The motor shaft is provided with a positioning step, the second mounting portion is sleeved on the motor shaft, and one end of the second mounting portion abuts against the positioning step; or, One of the motor shaft and the encoder mounting structure is provided with a positioning protrusion, and the other is provided with a positioning groove matched with the positioning protrusion. The positioning protrusion is inserted into the positioning groove, and the end face of the encoder mounting structure abuts against the end face of the motor shaft.

10. An encoder installation tool, used to assist in installing the encoder installation structure according to any one of claims 1 to 5, characterized in that: include: A tool body, at least one end of which is formed with a second clamping structure, wherein the second clamping structure is suitable for clamping and cooperating with the first clamping structure of the encoder mounting structure.

11. The encoder installation tool according to claim 10, characterized in that: There are multiple second clamping structures, and the multiple second clamping structures are arranged along the circumference of the tool body.

12. The encoder installation tool according to claim 10, characterized in that: The tool body is provided with an opening for cooperating with a lever to rotate the tool body.

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