Double encoders, robot joint module and robot

Abstract

The utility model relates to the technical field of motors, and particularly discloses a double-encoder, a robot joint module and a robot, and the double-encoder comprises a chip detection module, a first code disc and a second code disc, the first code disc, the chip detection module and the second code disc are distributed at intervals and are parallel to one another; and the chip detection module is used for detecting the movement of the first code disc and the movement of the second code disc, so that the first code disc and the second code disc share the chip detection module. According to the robot joint module, the detection chips of the two encoders are integrated on the same PCB, so that the positioning and assembling difficulty is reduced, the assembling precision is greatly improved, and the size of the whole robot joint module is reduced.

Description

Technical Field

[0001] The present application relates to the field of motor technology, and in particular to a dual encoder, a robot joint module and a robot. Background Art

[0002] As the application fields of collaborative robots continue to expand, the use scenarios cover industry, scientific research and education, food and medical, commercial appliances, etc., and higher performance requirements are put forward for the core components of collaborative robots, namely the robot joint module, that is, accurate control, high precision, compact structure, low cost and simple and convenient installation. At present, dual encoders are usually used to detect the motion information of the robot joint module. The dual encoders in the prior art are not a complete component. Usually, the detection chips and code disks of the two encoders are assembled separately. The complex assembly will not only increase the size of the entire robot joint module, but also increase the assembly error and affect the performance of the encoder. Utility Model Content

[0003] The purpose of this application is to provide a dual encoder, a robot joint module and a robot, which integrates the detection chips of the two encoders on the same PCB board, reduces the difficulty of positioning and assembly, greatly improves the assembly accuracy, and is conducive to reducing the size of the entire robot joint module.

[0004] The embodiment of the present application is implemented as follows:

[0005] In a first aspect, an embodiment of the present application provides a dual encoder, including a chip detection module, a first code disk and a second code disk with coincident rotation axes; the first code disk, the chip detection module and the second code disk are spaced apart and parallel to each other; the chip detection module is used to detect the movement of the first code disk and the movement of the second code disk, so that the first code disk and the second code disk share the chip detection module.

[0006] As an optional embodiment, the chip detection module includes a PCB board, the PCB board includes a first detection chip located on the rotation path of the first code disk, and a second detection chip located on the rotation path of the second code disk; the first detection chip is used to detect the movement of the first code disk; the second detection chip is used to detect the movement of the second code disk, so that the first detection chip corresponding to the first code disk and the second detection chip corresponding to the second code disk share the PCB board.

[0007] As an optional implementation, the PCB board is located between the first code disk and the second code disk, and the first detection chip and the second detection chip are respectively arranged on two side surfaces of the PCB board.

[0008] As an optional implementation, the dual encoder includes at least one absolute magnetic encoder.

[0009] As an optional embodiment, it also includes a fixed support that can be connected to the robot joint module; the fixed support includes a first support and a second support that are fixedly connected; the dual encoder includes a low-speed shaft encoder arranged on the first support and a high-speed shaft encoder arranged on the second support.

[0010] As an optional embodiment, the fixed support is provided with a coaxial first mounting hole and a second mounting hole; the low-speed shaft encoder is provided with a first sleeve shaft plugged into the first mounting hole; the high-speed shaft encoder is provided with a second sleeve shaft plugged into the second mounting hole.

[0011] As an optional embodiment, the first sleeve shaft is sleeved with a first bearing embedded in and matched with the first mounting hole on its outer periphery; the second sleeve shaft is sleeved with a second bearing embedded in and matched with the second mounting hole on its outer periphery.

[0012] As an optional embodiment, the first sleeve shaft is provided with a first connecting structure connected to the low-speed shaft of the robot joint module, the low-speed shaft of the robot joint module is coaxial with the first sleeve shaft and drives the first code disk to rotate; the second sleeve shaft is provided with a second connecting structure connected to the high-speed shaft of the robot joint module, the high-speed shaft of the robot joint module is coaxial with the second sleeve shaft and drives the second code disk to rotate.

[0013] As an optional embodiment, the first connecting structure includes a first mounting plate arranged on the first sleeve shaft and a connecting piece arranged on the first mounting plate; the first mounting plate is in contact with the end surface of the low-speed shaft of the robot joint module, and the connecting piece is distributed at circumferential intervals around the central axis of the first sleeve shaft, and is used to connect and fix the first mounting plate and the low-speed shaft of the robot joint module.

[0014] As an optional embodiment, the second connection structure includes a second mounting plate arranged on the second sleeve shaft and an elastic adapter ring connected to the second mounting plate at one end; the other end of the elastic adapter ring is connected to the end face of the high-speed shaft of the robot joint module.

[0015] As an optional implementation, a positioning structure for connecting a PCB board is provided on the first support and / or the second support.

[0016] As an optional embodiment, the positioning structure includes a plurality of positioning pins spaced apart around the central axis of the first code disk, and the PCB board is provided with positioning holes that cooperate with the positioning pins; or, the positioning structure includes a plurality of positioning grooves spaced apart around the central axis of the first code disk; and the PCB board is provided with positioning protrusions that cooperate with the positioning grooves.

[0017] In the second aspect, an embodiment of the present application provides a robot joint module, including a robot joint module body and the above-mentioned dual encoder; the robot joint module body includes a shell, a high-speed shaft and a low-speed shaft; the dual encoder is fixedly connected to the shell through a connecting part, the low-speed shaft can drive the first code disc to rotate, and the high-speed shaft can drive the second code disc to rotate.

[0018] In a third aspect, an embodiment of the present application further provides a robot comprising the above-mentioned robot joint module.

[0019] The beneficial effects of the embodiments of the present application include:

[0020] The embodiment of the present application provides a dual encoder, which is configured in a robot joint module. The dual encoder includes a fixed support and a PCB board arranged on the fixed support; a first code disc and a second code disc with a coincident rotation axis are arranged on the fixed support; the first code disc, the second code disc and the PCB board of the embodiment of the present application are spaced and parallel to each other, and the PCB board is located between the first code disc and the second code disc; the surface of the PCB board close to the first code disc is provided with a first detection chip located on the rotation path of the first code disc, and the surface of the PCB board close to the second code disc is provided with a second detection chip located on the rotation path of the second code disc. Compared with the prior art, the embodiment of the present application arranges the first detection chip and the second detection chip on both sides of a PCB board respectively, and detects the movement of the first code disc by the first detection chip, and detects the movement of the second code disc by the second detection chip. The detection chip of the dual encoder provided in the embodiment of the present application does not need to be assembled twice, which can avoid assembly errors and is conducive to ensuring the assembly accuracy of the encoder. The embodiment of the present application integrates the first detection chip and the second detection chip on both sides of the PCB board, which is conducive to simplifying the structure of the dual encoder, making the structure of the dual encoder more compact and convenient for assembly with the robot joint module.

[0021] The embodiment of the present application provides a robot joint module, including a robot joint module body and the above-mentioned dual encoder; the robot joint module body includes a robot joint module low-speed shaft connected to the first code disc and a robot joint module high-speed shaft connected to the second code disc. The robot joint module provided in the embodiment of the present application adopts the above-mentioned dual encoder, and by integrating the detection chips of the two encoders on the same PCB board, the difficulty of positioning and assembly is effectively reduced, the assembly accuracy is greatly improved, and it is conducive to reducing the size of the entire robot joint module. The robot joint module provided in the embodiment of the present application can be applied to the rotating joints of the robot, and the smaller size facilitates structural layout. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 This is one of the structural schematic diagrams of the dual encoder of the embodiment of the present application;

[0024] Figure 2 This is the second structural diagram of the dual encoder of the embodiment of the present application;

[0025] Figure 3 This is the third structural diagram of the dual encoder of the embodiment of the present application;

[0026] Figure 4 This is the fourth structural diagram of the dual encoder of the embodiment of the present application;

[0027] Figure 5 This is a schematic diagram of the structure of the robot joint module according to an embodiment of the present application.

[0028] Icons: 100-fixed support; 101-PCB board; 102-rotation axis; 103-first code disk; 104-second code disk; 105-first detection chip; 106-second detection chip; 107-first mounting hole; 108-second mounting hole; 109-first sleeve shaft; 110-second sleeve shaft; 111-first bearing; 112-second bearing; 113-first mounting plate; 114-connecting piece; 115-second mounting plate; 116-elastic adapter ring; 117-first support; 118-second support; 119-connecting piece; 120-positioning structure; 121-robot joint module body; 122-dual encoder. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0030] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0031] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0032] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" 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 a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0033] As the application fields of collaborative robots continue to expand, the use scenarios cover industry, scientific research and education, food and medical care, commercial appliances, etc., and higher performance requirements are put forward for the core components of collaborative robots, namely the robot joint module, that is, accurate control, high precision, compact structure, low cost and simple and convenient installation. At present, dual encoders 122 are usually used to detect the motion information of the robot joint module. The dual encoders 122 of the prior art are not a complete component. Usually, the detection chips and code disks of the two encoders are assembled separately. The complex assembly will not only increase the size of the entire robot joint module, but also increase the assembly error and affect the performance of the encoder.

[0034] In order to solve the above technical problems, an embodiment of the present application provides a dual encoder 122 and a robot joint module.

[0035] Reference Figure 1 and Figure 2As shown, an embodiment of the present application provides a dual encoder 122, which is configured in a robot joint module, and the dual encoder 122 includes a fixed support 100 and a PCB board 101 arranged on the fixed support 100; a first code disk 103 and a second code disk 104 coinciding with a rotation axis 102 are arranged on the fixed support 100; the first code disk 103, the second code disk 104 and the PCB board 101 are distributed at intervals and parallel to each other, and the PCB board 101 is located between the first code disk 103 and the second code disk 104; a first detection chip 105 located on the rotation path of the first code disk 103 is arranged on the surface of the PCB board 101 close to the first code disk 103; the first detection chip 105 is used to detect the movement of the first code disk 103; a second detection chip 106 located on the rotation path of the second code disk 104 is arranged on the surface of the PCB board 101 close to the second code disk 104; the second detection chip 106 is used to detect the movement of the second code disk 104.

[0036] It should be noted that the first code disk 103, the second code disk 104 and the PCB board 101 are spaced apart and parallel to each other. The first detection chip 105 and the second detection chip 106 are respectively attached to the first code disk 103 and the second code disk 104, so that the planes where the first detection chip 105 and the second detection chip 106 are located are parallel to the plane where the PCB is located.

[0037] The specific shape of the PCB board 101 of the embodiment of the present application can be set by those skilled in the art as needed, wherein a through hole needs to be set in the middle of the PCB board 101 to facilitate the connection between the first code disc 103 or the second code disc 104 and the robot joint module shaft.

[0038] It should be noted that in the dual encoder 122 provided in the embodiment of the present application, the PCB board 101 is fixed between the first code disk 103 and the second code disk 104, and the distances from the two side surfaces of the PCB board 101 to the first code disk 103 and the second code disk 104 are fixed, that is, the distances between the first detection chip 105 and the first code disk 103 are fixed, and the distances between the second detection chip 106 and the second code disk 104 are fixed. Compared with the prior art, the embodiment of the present application can avoid the problem that the gap between the code disk and the detection chip changes during operation, resulting in inaccurate detection results.

[0039] The distance between the first detection chip 105 and the first code disk 103 , and the distance between the second detection chip 106 and the second code disk 104 can be set by those skilled in the art as required, and are not particularly limited herein.

[0040] The embodiment of the present application provides a dual encoder 122, which is configured in a robot joint module. The dual encoder 122 includes a fixed support 100 and a PCB board 101 arranged on the fixed support 100; a first code disk 103 and a second code disk 104 whose rotation axis 102 coincides are arranged on the fixed support 100; the first code disk 103, the second code disk 104 and the PCB board 101 of the embodiment of the present application are distributed at intervals and parallel to each other, and the PCB board 101 is located between the first code disk 103 and the second code disk 104; the embodiment of the present application is provided with a first detection chip 105 located on the rotation path of the first code disk 103 on the surface of the PCB board 101 close to the first code disk 103, and a second detection chip 106 located on the rotation path of the second code disk 104 is provided on the surface of the PCB board 101 close to the second code disk 104. Compared with the prior art, the embodiment of the present application sets the first detection chip 105 and the second detection chip 106 on both sides of a PCB board 101 respectively, and detects the movement of the first code disk 103 through the first detection chip 105, and detects the movement of the second code disk 104 through the second detection chip 106. The detection chip of the dual encoder 122 provided in the embodiment of the present application does not need to be assembled twice, which can avoid assembly errors and help ensure the assembly accuracy of the encoder. The embodiment of the present application integrates the first detection chip 105 and the second detection chip 106 on both sides of the PCB board 101, which helps to simplify the structure of the dual encoder 122, making the structure of the dual encoder 122 more compact and convenient for assembly with the robot joint module. In addition, the compact structure of the dual encoder 122 is conducive to reducing the axial length of the joint.

[0041] Reference Figure 3 and Figure 4 As shown, as an optional embodiment, a coaxial first mounting hole 107 and a second mounting hole 108 are provided on the fixed support 100; a first sleeve shaft 109 which is plugged into and matched with the first mounting hole 107 is provided on the side of the first code disk 103 away from the PCB board 101; a second sleeve shaft 110 which is plugged into and matched with the second mounting hole 108 is provided on the side of the second code disk 104 away from the PCB board 101.

[0042] It should be noted that the first mounting hole 107 and the second mounting hole 108 are coaxially arranged, and the first code disk 103 is plugged and matched with the first mounting hole 107 through the first sleeve shaft 109, so that the first sleeve shaft 109 and the first mounting hole 107 form a rotation pair, so that the first code disk 103 can rotate around the central axis of the first mounting hole 107. Similarly, the second code disk 104 is plugged and matched with the second mounting hole 108 through the second sleeve shaft 110, so that the second sleeve shaft 110 and the second mounting hole 108 form a rotation pair, so that the second code disk 104 can rotate around the central axis of the second mounting hole 108.

[0043] Furthermore, in the embodiment of the present application, a first bearing 111 is sleeved on the outer periphery of the first sleeve shaft 109 and is embedded in and matched with the first mounting hole 107 ; and a second bearing 112 is sleeved on the outer periphery of the second sleeve shaft 110 and is embedded in and matched with the second mounting hole 108 .

[0044] The embodiment of the present application can greatly reduce the resistance of the first code disk 103 and the second code disk 104 during rotation by setting the first bearing 111 and the second bearing 112, which helps the first code disk 103 and the second code disk 104 to rotate flexibly and facilitates improving the rotation sensitivity of the first code disk 103 and the second code disk 104 in the dual encoder 122.

[0045] As an optional embodiment, the first sleeve shaft 109 is provided with a first connecting structure connected to the low-speed shaft of the robot joint module. The low-speed shaft of the robot joint module is coaxial with the first sleeve shaft 109 and drives the first code disk 103 to rotate; the second sleeve shaft 110 is provided with a second connecting structure connected to the high-speed shaft of the robot joint module. The high-speed shaft of the robot joint module is coaxial with the second sleeve shaft 110 and drives the second code disk 104 to rotate.

[0046] It should be noted that the first sleeve shaft 109 of the embodiment of the present application is connected to the low-speed shaft of the robot joint module through the first connection structure, so that the low-speed shaft of the robot joint module can drive the first code disk 103 to rotate through the first sleeve shaft 109. The second sleeve shaft 110 of the embodiment of the present application is connected to the high-speed shaft of the robot joint module through the second connection structure, so that the high-speed shaft of the robot joint module can drive the second code disk 104 to rotate through the second sleeve shaft 110.

[0047] It should be noted that the first code disc 103 and the second code disc 104 of the embodiment of the present application are both installed close to the PCB board 101, so the structure is relatively concentrated in the axial direction of the robot joint module, so that the dual encoder 122 can be flattened and integrated in the axial direction of the robot joint module. When the dual encoder is installed on the robot joint module, it is beneficial to reduce the size of the entire module in the axial direction.

[0048] It should be noted that the robot joint module provided in the embodiment of the present application can be applied to the robot joint module, and the compact design of the axial structure is conducive to making the overall structural size of the robot joint module compact.

[0049] Reference Figure 3As shown, as an optional embodiment, the first connecting structure includes a first mounting plate 113 arranged on the first sleeve shaft 109 and a connecting member 114 arranged on the first mounting plate 113; the first mounting plate 113 is in contact with the end face of the low-speed shaft of the robot joint module, and the connecting member 114 is distributed at circumferential intervals around the central axis of the first sleeve shaft 109, and is used to connect and fix the first mounting plate 113 and the low-speed shaft of the robot joint module.

[0050] Reference Figure 4 As shown, the second connection structure includes a second mounting plate 115 arranged on the second sleeve shaft 110 and an elastic adapter ring 116 connected to the second mounting plate 115 at one end; the other end of the elastic adapter ring 116 is connected to the end face of the high-speed shaft of the robot joint module.

[0051] The embodiment of the present application connects the end face of the high-speed shaft of the robot joint module with the second mounting plate 115 through the elastic adapter ring 116, so that the high-speed shaft of the robot joint module can drive the second mounting plate 115 to rotate through the elastic adapter ring 116. Among them, the embodiment of the present application can realize flexible transmission connection through the elastic adapter ring 116, which has a flexible protection function for the rigid structure.

[0052] It should be noted that the specific connection method between the elastic adapter ring 116 and the high-speed shaft of the robot joint module can be selected by technicians in this field according to their needs without any special limitation. For example, a recessed portion is provided on the end surface of the high-speed shaft of the robot joint module, and a raised portion is provided on the end surface of the elastic adapter ring 116 to be plugged into the recessed portion, and power transmission is achieved through the plugging of the raised portion and the recessed portion.

[0053] It should be noted that the dual encoder 122 provided in the embodiment of the present application is integrated so that the dual encoder 122 is integrated. When the encoder is assembled with the robot joint module, it is only necessary to fasten the low-speed shaft of the robot joint module to the first mounting plate 113 part by screws and other structural parts, and the fixed support 100 is connected to the robot joint module housing by screws to complete the assembly of the encoder. There is no need to independently assemble the first code disc 103 and the second code disc 104 in the robot joint module, so as to avoid the encoder performance being affected by the assembly error, thereby ensuring the performance of the robot joint module.

[0054] Reference Figure 3 and Figure 4 As shown, as an optional embodiment, the fixed support 100 includes a first support 117 and a second support 118 that are fixedly connected; the first mounting hole 107 is arranged on the first support 117, and the second mounting hole 108 is arranged on the second support 118; a connecting piece 119 connected to the robot joint module is arranged on the first support 117 or the second support 118.

[0055] It should be noted that the dual encoder 122 provided in the embodiment of the present application includes a low-speed shaft encoder arranged on the first support 117 and a high-speed shaft encoder arranged on the second support 118. Among them, at least one absolute magnetic encoder. Exemplarily, the high-speed shaft encoder and the low-speed shaft encoder of the dual encoder 122 provided in the embodiment of the present application both adopt absolute magnetic encoders, so that the dual encoder 122 is not affected by environmental factors such as dust and oil inside the robot joint module, so that the overall reliability of the dual encoder 122 is improved.

[0056] The embodiment of the present application can be assembled with the robot joint module by setting the connecting piece 119 on the first support 117 or the second support 118. Compared with the prior art, the dual encoder 122 and the robot joint module provided by the embodiment of the present application can be quickly installed, which can not only improve the assembly accuracy, but also help improve the assembly efficiency.

[0057] Among them, refer to Figure 1 As shown, a positioning structure 120 for connecting the PCB board 101 is disposed on the first support 117 or the second support 118 .

[0058] It should be noted that the positioning structure 120 can be disposed on the first support 117 or on the second support 118 . The specific form of the positioning structure 120 can be selected by those skilled in the art as needed.

[0059] Exemplarily, the positioning structure 120 includes a plurality of positioning pins spaced apart around the central axis of the first code disk 103, and the PCB board 101 is provided with positioning holes that cooperate with the positioning pins; or, the positioning structure 120 includes a plurality of positioning grooves spaced apart around the central axis of the first code disk 103; and the PCB board 101 is provided with positioning protrusions that cooperate with the positioning grooves.

[0060] Reference Figure 5 As shown, an embodiment of the present application provides a robot joint module, including a robot joint module body 121 and the above-mentioned dual encoder 122; the robot joint module body 121 includes a shell, a high-speed shaft and a low-speed shaft; the dual encoder 122 is fixedly connected to the shell through a connecting member 119, the low-speed shaft can drive the first code disk 103 to rotate, and the high-speed shaft can drive the second code disk 104 to rotate.

[0061] The robot joint module provided in the embodiment of the present application adopts the above-mentioned dual encoder 122, and by integrating the detection chips of the two encoders on the same PCB board 101, the difficulty of positioning and assembly is effectively reduced, the assembly accuracy is greatly improved, and the size of the entire robot joint module is reduced. The robot joint module provided in the embodiment of the present application can be applied to the rotating joint of the robot, and the smaller size facilitates structural arrangement.

[0062] An embodiment of the present application also provides a robot, comprising the above-mentioned robot joint module.

[0063] For example, the movable joints of a six-axis robot arm, a quadruped robot dog, and a humanoid robot may all adopt the robot joint module provided in the embodiments of the present application.

[0064] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A dual encoder, characterized in that: It includes a chip detection module, a first code disk and a second code disk with overlapping rotation axes; the first code disk, the chip detection module and the second code disk are spaced apart and parallel to each other; the chip detection module is used to detect the movement of the first code disk and the movement of the second code disk, so that the first code disk and the second code disk share the chip detection module.

2. The dual encoder according to claim 1, characterized in that: The chip detection module includes a PCB board, and the PCB board includes a first detection chip located on the rotation path of the first code disk, and a second detection chip located on the rotation path of the second code disk; the first detection chip is used to detect the movement of the first code disk; the second detection chip is used to detect the movement of the second code disk, so that the first detection chip corresponding to the first code disk and the second detection chip corresponding to the second code disk share the PCB board.

3. The dual encoder according to claim 2, characterized in that: The PCB board is located between the first code disk and the second code disk, and the first detection chip and the second detection chip are respectively arranged on two side surfaces of the PCB board.

4. The dual encoder according to claim 1, characterized in that: The dual encoder includes at least one absolute magnetic encoder.

5. The dual encoder according to claim 2, characterized in that: It also includes a fixed support that can be connected to the robot joint module; the fixed support includes a first support and a second support that are fixedly connected; the dual encoder includes a low-speed shaft encoder arranged on the first support and a high-speed shaft encoder arranged on the second support.

6. The dual encoder according to claim 5, characterized in that: The fixed support is provided with a coaxial first mounting hole and a second mounting hole; the low-speed shaft encoder is provided with a first sleeve shaft plug-fitted with the first mounting hole; the high-speed shaft encoder is provided with a second sleeve shaft plug-fitted with the second mounting hole.

7. The dual encoder according to claim 6, characterized in that: The first sleeve shaft is sleeved with a first bearing embedded in and matched with the first mounting hole on its outer periphery; the second sleeve shaft is sleeved with a second bearing embedded in and matched with the second mounting hole on its outer periphery.

8. The dual encoder according to claim 6, characterized in that: The first sleeve shaft is provided with a first connecting structure connected to the low-speed shaft of the robot joint module. The low-speed shaft of the robot joint module is coaxial with the first sleeve shaft and drives the first code disk to rotate; the second sleeve shaft is provided with a second connecting structure connected to the high-speed shaft of the robot joint module. The high-speed shaft of the robot joint module is coaxial with the second sleeve shaft and drives the second code disk to rotate.

9. The dual encoder according to claim 8, characterized in that: The first connecting structure includes a first mounting plate arranged on the first sleeve shaft and a connecting piece arranged on the first mounting plate; the first mounting plate is fitted and abutted against the end surface of the low-speed shaft of the robot joint module, and the connecting piece is distributed at circumferential intervals around the central axis of the first sleeve shaft, and is used to connect and fix the first mounting plate and the low-speed shaft of the robot joint module.

10. The dual encoder according to claim 8, characterized in that: The second connection structure includes a second mounting plate arranged on the second sleeve shaft and an elastic adapter ring connected to the second mounting plate at one end; the other end of the elastic adapter ring is connected to the end face of the high-speed shaft of the robot joint module.

11. The dual encoder according to claim 5, characterized in that: The first support and / or the second support is provided with a positioning structure for connecting a PCB board.

12. The dual encoder according to claim 11, characterized in that: The positioning structure includes a plurality of positioning pins spaced apart around the central axis of the first code disk, and the PCB board is provided with positioning holes cooperating with the positioning pins; or, the positioning structure includes a plurality of positioning grooves spaced apart around the central axis of the first code disk; the PCB board is provided with positioning protrusions cooperating with the positioning grooves.

13. A robot joint module, characterized in that: It comprises a robot joint module body and the dual encoder described in any one of claims 1-12; the robot joint module body comprises a shell, a high-speed shaft and a low-speed shaft; the dual encoder is fixedly connected to the shell via a connecting piece, the low-speed shaft can drive the first code disc to rotate, and the high-speed shaft can drive the second code disc to rotate.

14. A robot, characterized in that: Comprising the robot joint module as described in claim 13.

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