Encoder structure for joint module and joint module

Abstract

The utility model provides an encoder structure for a joint module and the joint module, and the encoder structure comprises an output end measurement code disc which is installed on a hollow shaft and rotates synchronously with the hollow shaft, and an input end measurement code disc which is installed on a rotor of a motor and rotates synchronously with the rotor of the motor. The encoder circuit board is arranged between the output end measurement code disc and the input end measurement code disc, an output end measurement encoder read head is arranged on one side, close to the output end measurement code disc, of the encoder circuit board, and an input end measurement encoder read head is arranged on one side, close to the input end measurement code disc, of the encoder circuit board. The integrated level of the whole encoder structure is improved, the installation space of the encoder structure is saved, and breath adjustment between the input end measurement code disc and the input end measurement encoder read head on the encoder circuit board and breath adjustment between the output end measurement code disc and the output end measurement encoder read head on the encoder circuit board are achieved. And the applicability of the encoder can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of joint module structures, and in particular to an encoder structure for a joint module and a joint module. Background Art

[0002] With the rapid development of industrial automation technology, robots, as an important industrial automation equipment, are gaining more and more attention and are being used more and more widely. The joint module is an important component in the robot, which plays an important role in the movement of the robot.

[0003] The encoder in the joint module can measure the rotation of the output end of the joint module, and can also measure the rotation of the motor rotor of the joint module. When it is necessary to measure the rotation of the output end of the joint module and the rotation of the motor rotor of the joint module at the same time, multiple encoders are required to measure them separately.

[0004] The existing Chinese patent application document with announcement number CN114681060B discloses a surgical joint module, in which power is transmitted by a transmission shaft, and the transmission shaft output end of the driving transmission shaft outputs power, and the power is transmitted to the power output flange through a reducer. A position encoder and a speed encoder are arranged at the transmission shaft input end of the transmission shaft, the speed encoder code disk of the speed sensor is installed on the brake brake, the speed encoder reader of the speed sensor is installed on the casing, the position encoder code disk of the position encoder is fixed on the wire sleeve, a tail protection seat extends from the casing, and the position encoder reader of the position encoder is fixed on the tail protection seat.

[0005] The installation structure of multiple encoders on the joint module in the prior art mainly has the following defects and needs to be improved:

[0006] 1. Multiple encoders are installed independently on the joint module, with low integration.

[0007] 2. The installation position of the encoder on the joint module is difficult to adjust and has poor adaptability. Utility Model Content

[0008] In view of the defects in the prior art, the purpose of the present utility model is to provide an encoder structure for a joint module and a joint module.

[0009] According to the utility model, an encoder structure for a joint module includes an output end measuring code disk, an input end measuring code disk and an encoder circuit board; the output end measuring code disk is installed on a hollow shaft and rotates synchronously with the hollow shaft, the input end measuring code disk is installed on a rotor of a motor and rotates synchronously with the rotor of the motor, the encoder circuit board is arranged between the output end measuring code disk and the input end measuring code disk, and an output end measuring encoder reader is arranged on a side of the encoder circuit board close to the output end measuring code disk, and an input end measuring encoder reader is arranged on a side of the encoder circuit board close to the input end measuring code disk.

[0010] Preferably, the middle part of the output-end measuring code disk is fixedly connected or integrally formed with a threaded connecting sleeve, and one end of the hollow shaft on which the output-end measuring code disk is installed is provided with a threaded connecting section, and the threaded connecting sleeve is threadedly connected to the threaded connecting section; or, the middle part of the output-end measuring code disk is fixedly connected or integrally formed with a connecting sleeve, and the connecting sleeve is pressed into the hollow shaft by an interference fit.

[0011] Preferably, an encoder fixing base is further included, and the encoder circuit board is fixedly connected to the encoder fixing base via fasteners.

[0012] Preferably, a gasket is arranged between the encoder circuit board and the encoder fixing base, and the fastener fastens and connects the encoder circuit board, the gasket and the encoder fixing base which are arranged in sequence.

[0013] Preferably, the encoder fixing base is annular, the annular inner wall of the encoder fixing base has a mounting portion extending toward the annular center of the encoder fixing base, and the encoder circuit board is fastened to the mounting portion of the encoder fixing base by fasteners.

[0014] Preferably, a locking sleeve is connected between the input-end measuring code disk and the rotor of the motor, one end of the locking sleeve is fixedly connected to the rotor of the motor, and the other end of the locking sleeve is fixedly connected to the input-end measuring code disk.

[0015] Preferably, the output end measuring code disk, the input end measuring code disk, the encoder circuit board, the hollow shaft, the locking sleeve and the rotor of the motor are all coaxial; the hollow shaft passes through the encoder circuit board, the input end measuring code disk, the locking sleeve and the rotor of the motor respectively, and the hollow shaft forms a fixed fit with the output point measuring code disk and the connecting sleeve.

[0016] Preferably, one end of the locking sleeve extends into a rotation gap between the rotor of the motor and the hollow shaft, and an outer wall of the locking sleeve is close to the rotor of the motor and has an interference fit therewith.

[0017] Preferably, one end of the locking sleeve on which the input-end measuring code disc is mounted is provided with a concave mounting groove, and the input-end measuring code disc is embedded and mounted in the concave mounting groove.

[0018] According to a joint module provided by the utility model, it also includes a joint module housing, the rotor of the motor is rotatably installed in the joint module housing, and the encoder fixed base is fixedly installed at one axial end of the joint module housing.

[0019] Compared with the prior art, the utility model has the following beneficial effects:

[0020] 1. The utility model integrates the output-end measuring encoder head and the input-end encoder head on an encoder circuit board, and arranges the output-end measuring code disk, the encoder circuit board and the input-end measuring code disk in sequence along the axial direction of the hollow shaft, which helps to improve the overall integration of the encoder structure, helps to save the installation space of the encoder structure, and further helps to improve space utilization.

[0021] 2. The utility model realizes breath adjustment between the input-end measuring code disk and the input-end measuring encoder reading head on the encoder circuit board, and breath adjustment between the output-end measuring code disk and the output-end measuring encoder reading head on the encoder circuit board by means of threaded cooperation between the threaded connection sleeve and the threaded connection section and by setting a gasket between the mounting portion and the input-end measuring code disk, thereby helping to improve the applicability of the encoder.

[0022] 3. The utility model arranges the output end measuring code disk and the encoder circuit board in the annular space of the encoder fixed base, and arranges the input end measuring code disk in the concave mounting groove of the locking sleeve, which helps to improve the axial space utilization of the encoder structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0024] Figure 1 This is a cross-sectional view mainly showing the structure of the encoder of the utility model;

[0025] Figure 2 This is a schematic diagram of the overall structure of the encoder fixing base of the utility model;

[0026] Figure 3 This is a schematic diagram of the installation structure of the input end measurement code disk and the locking sleeve of the utility model;

[0027] Figure 4 This is a schematic diagram of the overall structure of the joint module mainly embodied in the utility model.

[0028] As shown in the figure:

[0029] Joint module housing 1 Encoder fixing base 6

[0030] Output end measuring code disc 2 Mounting part 61

[0031] Threaded connection sleeve 21 Locking sleeve 7

[0032] Input end measuring code disc 3 Concave mounting groove 71

[0033] Encoder circuit board 4 Hollow shaft 8

[0034] Rotor 5 Threaded connection section 81 DETAILED DESCRIPTION

[0035] The utility model is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the utility model, but do not limit the utility model in any form. It should be pointed out that for those of ordinary skill in the art, several changes and improvements can be made without departing from the concept of the utility model. These all belong to the protection scope of the utility model.

[0036] like Figure 1 As shown, an encoder structure for a joint module provided by the utility model includes an output end measuring code disc 2, an input end measuring code disc 3 and an encoder circuit board 4. The output end measuring code disc 2 is mounted on the hollow shaft 8 and rotates synchronously with the hollow shaft 8, the input end measuring code disc 3 is mounted on the rotor 5 of the motor and rotates synchronously with the rotor 5 of the motor, the encoder circuit board 4 is arranged between the output end measuring code disc 2 and the input end measuring code disc 3, and the encoder circuit board 4 is provided with an output end measuring encoder reader on one side close to the output end measuring code disc 2, and the encoder circuit board 4 is provided with an input end measuring encoder reader on one side close to the input end measuring code disc 3.

[0037] By integrating the output-end measuring encoder reader and the input-end measuring encoder reader on the same encoder circuit board 4, the circuit structure is simplified, and the output-end measuring code disk 2, the encoder circuit board 4 and the input-end measuring code disk 3 are arranged in sequence along the axial direction of the hollow shaft 8, thereby improving the overall integration of the encoder structure and saving the installation space of the encoder structure.

[0038] Specifically, the output end measuring code disc 2, the input end measuring code disc 3 and the encoder circuit board 4 are all in the shape of a disc, the hollow shaft 8 is a hollow cylinder, the middle part of the output end measuring code disc 2 is fixedly connected or integrally formed with a threaded connection sleeve 21, and one end of the hollow shaft 8 where the output end measuring code disc 2 is installed is provided with a threaded connection section 81, the threaded connection section 81 is arranged on the outer surface of the hollow shaft 8 along the axial direction of the hollow shaft 8, and the threaded connection sleeve 21 is threadedly connected with the threaded connection section 81. The present application proposes a feasible implementation method as follows: the hollow cylindrical threaded connection sleeve 21 is coaxially connected to the middle part of the output end measuring code disc 2 by glue curing, and then the threaded connection sleeve 21 is threadedly connected with the threaded connection section 81 on the outer surface of the hollow shaft 8 to achieve the output end measuring code disc 2 being installed on the hollow shaft 8 and rotating synchronously with the hollow shaft 8. With the help of threaded matching, the output end measuring code disc 2 can be positionally adjusted along the axial direction of the hollow shaft 8 within the length range of the threaded connection section 81.

[0039] The present application also proposes a feasible solution for installing the output-end measuring code disc 2 on the hollow shaft 8 and rotating synchronously with the hollow shaft 8: a connecting sleeve is fixedly connected or integrally formed in the middle of the output-end measuring code disc 2, the connecting sleeve may not be provided with threads, and the connecting sleeve may be pressed into the hollow shaft 8 in an interference fit manner. The pressing depth of the connecting sleeve on the hollow shaft 8 may also be adjusted by interference fit, and the position may be adjusted along the axial direction of the hollow shaft 8.

[0040] like Figure 1 and Figure 2 As shown, more specifically, it also includes an encoder fixing base 6, which is in a circular ring shape, and the inner ring diameter of the encoder fixing base 6 is larger than the outer ring diameter of the output end measuring code disk 2, and the inner ring diameter of the encoder fixing base 6 is larger than the outer ring diameter of the encoder circuit board 4.

[0041] The encoder circuit board 4 is fixedly connected to the encoder fixed base 6 by fasteners. A mounting portion 61 is extended from the annular inner wall of the encoder fixed base 6 toward the annular center of the encoder fixed base 6, and the encoder circuit board 4 is fastened to the mounting portion 61 of the encoder fixed base 6 by fasteners. A gasket is provided between the encoder circuit board 4 and the encoder fixed base 6, and the fasteners fasten the encoder circuit board 4, the gasket and the encoder fixed base 6 which are provided in sequence.

[0042] The present application proposes a feasible installation method of the encoder circuit board 4 and the encoder fixed base 6: three mounting parts 61 are formed on the annular inner wall of the encoder fixed base 6 at equal intervals along the circumference of the annular inner wall, and the three mounting parts 61 are located in the same plane. The encoder circuit board 4 is placed in the annular space of the encoder fixed base 6, and the encoder circuit board 4 is fixedly connected to the three mounting parts 61 respectively by fasteners commonly used in the prior art such as bolts, screws or nuts, and the position of the encoder circuit board 4 can be adjusted by increasing or decreasing the number of gaskets between the encoder circuit board 4 and the mounting parts 61.

[0043] like Figure 1 and Figure 3 As shown, more specifically, a locking sleeve 7 is connected between the input-end measuring code disk 3 and the rotor 5 of the motor. The rotor 5 of the motor is cylindrical, and the locking sleeve 7 is also cylindrical. The diameter of one axial end of the locking sleeve 7 is larger than the diameter of the other axial end of the locking sleeve 7. The end of the locking sleeve 7 with a smaller diameter is fixedly connected to the rotor 5 of the motor, and the end of the locking sleeve 7 with a larger diameter is fixedly connected to the input-end measuring code disk 3.

[0044] Furthermore, the output end measuring disc 2, the input end measuring disc 3, the encoder circuit board 4, the hollow shaft 8, the locking sleeve 7 and the rotor 5 of the motor are all in a coaxial relationship, the hollow shaft 8 passes through the encoder circuit board 4, the input end measuring disc 3, the locking sleeve 7 and the rotor 5 of the motor respectively and is in a coaxial relationship with the four respectively, and the output end measuring disc 2, the encoder circuit board 4 and the input end measuring disc 3 are sequentially installed along the axial direction of the hollow shaft 8. The end with a smaller diameter of the locking sleeve 7 extends into the rotation gap between the rotor 5 of the motor and the hollow shaft 8, the outer wall of the end with a smaller diameter of the locking sleeve 7 is close to the rotor 5 of the motor and has an interference fit therewith, and the inner wall of the end with a smaller diameter of the locking sleeve 7 is close to the hollow shaft 8 without connection or interference.

[0045] Furthermore, the end of the locking sleeve 7 with a larger diameter extends out of the motor rotor 5 and is close to the encoder circuit board 4. The end of the locking sleeve 7 extending out of the motor rotor 5 is the installation base of the input end measuring code disc 3. The end of the locking sleeve 7 extending out of the motor rotor 5 is provided with a concave installation groove 71. The input end measuring code disc 3 is embedded and installed in the concave installation groove 71, and the input end measuring code disc 3 can be fastened to the locking sleeve 7 by glue or fasteners. Embedding the input end measuring code disc 3 in the concave installation groove 71 of the locking sleeve 7 can reduce the axial size of the installation structure and improve space utilization.

[0046] It needs to be further explained that the input-end measuring code disk 3 is installed on the rotor 5 of the motor through the locking sleeve 7 and can move synchronously with the rotor 5 of the motor, and the input-end measuring code disk 3 cannot be adjusted in position along the axial direction of the hollow shaft 8. Since the gasket between the encoder circuit board 4 and the encoder fixed base 6 is located between the encoder circuit board 4 and the input-end measuring code disk 3, the gap between the input-end measuring code disk 3 and the encoder circuit board 4 along the axial direction of the hollow shaft 8 can be adjusted by increasing or decreasing the number of gaskets. And by means of threaded matching, the output-end measuring code disk 2 can be adjusted in position along the axial direction of the hollow shaft 8 within the length range of the threaded connection section 81, and then the gap between the output-end measuring code disk 2 and the encoder circuit board 4 along the axial direction of the hollow shaft 8 can be adjusted within the design range.

[0047] It is also necessary to further explain that after the encoder structure is installed in place, the output end measuring code disk 2 and the encoder circuit board 4 are both located in the annular space of the encoder fixed base 6, and the input end measuring code disk 3 is located in the recessed mounting groove 71 of the locking sleeve 7, thereby improving the integration of the overall structure, thereby reducing the structural size and increasing the axial space utilization.

[0048] The utility model also provides a joint module, such as Figure 1 and Figure 4 As shown, it also includes a joint module housing 1, the rotor 5 of the motor is rotatably installed in the joint module housing 1, the motor body is fixedly installed in the joint module housing 1, and the encoder fixed base 6 is fixedly installed at one axial end of the joint module housing 1. Both the joint module housing 1 and the encoder fixed base 6 have a certain structural strength and can be used as an installation basis.

[0049] How it works

[0050] By increasing or decreasing the number of gaskets, the gap between the input-end measuring code disk 3 and the encoder circuit board 4 along the axial direction of the hollow shaft 8 can be adjusted. By means of the threaded fit or interference fit between the threaded connection sleeve 21 and the threaded connection section 81, the output-end measuring code disk 2 can be position-adjusted along the axial direction of the hollow shaft 8 within the length of the threaded connection section 81, and thus the gap between the output-end measuring code disk 2 and the encoder circuit board 4 along the axial direction of the hollow shaft 8 can be adjusted within the design range. The structure is compact and the space utilization rate is high.

[0051] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0052] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other at will.

Claims

1. An encoder structure for a joint module, characterized in that: It comprises an output end measuring code disc (2), an input end measuring code disc (3) and an encoder circuit board (4); The output-end measuring code disk (2) is mounted on the hollow shaft (8) and rotates synchronously with the hollow shaft (8); the input-end measuring code disk (3) is mounted on the rotor (5) of the motor and rotates synchronously with the rotor (5) of the motor; the encoder circuit board (4) is arranged between the output-end measuring code disk (2) and the input-end measuring code disk (3); an output-end measuring encoder reader is arranged on a side of the encoder circuit board (4) close to the output-end measuring code disk (2); and an input-end measuring encoder reader is arranged on a side of the encoder circuit board (4) close to the input-end measuring code disk (3).

2. The encoder structure for the joint module according to claim 1, characterized in that: A threaded connection sleeve (21) is fixedly connected or integrally formed in the middle of the output end measuring code disc (2), and one end of the hollow shaft (8) on which the output end measuring code disc (2) is mounted is provided with a threaded connection section (81), and the threaded connection sleeve (21) is threadedly connected to the threaded connection section (81); Alternatively, a connecting sleeve is fixedly connected or integrally formed in the middle of the output end measuring code disc (2), and the connecting sleeve is pressed into the hollow shaft (8) in an interference fit manner.

3. The encoder structure for a joint module according to claim 1, characterized in that: It also comprises an encoder fixing base (6), and the encoder circuit board (4) is fixedly connected to the encoder fixing base (6) via a fastener.

4. The encoder structure for the joint module according to claim 3, characterized in that: A gasket is arranged between the encoder circuit board (4) and the encoder fixed base (6), and the fastener fastens and connects the encoder circuit board (4), the gasket and the encoder fixed base (6) which are arranged in sequence.

5. The encoder structure for joint module according to claim 3, characterized in that: The encoder fixing base (6) is annular, and a mounting portion (61) is extended from the annular inner wall of the encoder fixing base (6) toward the annular center of the encoder fixing base (6). The encoder circuit board (4) is fastened to the mounting portion (61) of the encoder fixing base (6) via a fastener.

6. The encoder structure for a joint module according to claim 1, characterized in that: A locking sleeve (7) is connected between the input-end measuring code disc (3) and the rotor (5) of the motor; one end of the locking sleeve (7) is fixedly connected to the rotor (5) of the motor, and the other end of the locking sleeve (7) is fixedly connected to the input-end measuring code disc (3).

7. The encoder structure for the joint module according to claim 6, characterized in that: The output end measuring code disc (2), the input end measuring code disc (3), the encoder circuit board (4), the hollow shaft (8), the locking sleeve (7) and the rotor (5) of the motor are all in a coaxial relationship; The hollow shaft (8) passes through the encoder circuit board (4), the input end measuring code disk (3), the locking sleeve (7) and the rotor (5) of the motor respectively, and the hollow shaft (8) forms a fixed fit with the output point measuring code disk (2) and the connecting sleeve (21).

8. The encoder structure for the joint module according to claim 7, characterized in that: One end of the locking sleeve (7) extends into the rotation gap between the rotor (5) and the hollow shaft (8) of the motor, and the outer wall of the locking sleeve (7) is close to the rotor (5) of the motor and is interference fit therewith.

9. The encoder structure for a joint module according to claim 6, characterized in that: One end of the locking sleeve (7) for mounting the input-end measuring code disc (3) is provided with a recessed mounting groove (71), and the input-end measuring code disc (3) is embedded and mounted in the recessed mounting groove (71).

10. A joint module, characterized in that: The encoder structure for the joint module according to any one of claims 1 to 9 also includes a joint module housing (1), the rotor (5) of the motor is rotatably mounted in the joint module housing (1), and the encoder fixed base (6) is fixedly mounted at one axial end of the joint module housing (1).

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