Encoder mounting structure and robot joint

Abstract

The utility model belongs to the technical field of robots, and discloses an encoder mounting structure and a robot joint. The encoder mounting structure comprises a joint shell, a rotating shaft, an annular inner supporting structure, an annular outer supporting structure, an encoder assembly and a first bearing. The rotating shaft is located in the joint shell. The annular inner supporting structure is arranged on the rotating shaft. The annular outer supporting structure is arranged on the joint shell and located on the periphery of the annular inner supporting structure. The encoder assembly comprises a code disc and an identification piece which are oppositely arranged, one of the code disc and the identification piece is arranged on the annular inner supporting structure, and the other one of the code disc and the identification piece is arranged on the annular outer supporting structure. The first bearing is supported between the annular inner supporting structure and the annular outer supporting structure.

Description

Technical Field

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

[0002] An encoder is used to measure rotation or displacement and convert it into an electrical signal for determining position, counting, speed or direction. The encoder plays an important and irreplaceable role in the field of motors.

[0003] With the progress of technology, the rotational speed of the rotating shaft is getting higher and higher. After the encoder is set on the rotating shaft, how to ensure the smoothness of the rotating shaft where the encoder is set at high speed needs to be solved urgently. Summary of the Utility Model

[0004] The purpose of the utility model is to provide an encoder mounting structure and a robot joint to improve the smoothness of the rotating shaft at the encoder mounting position.

[0005] To achieve the above purpose, the utility model adopts the following technical solutions:

[0006] An encoder mounting structure, comprising:

[0007] A joint housing;

[0008] A rotating shaft, which is located inside the joint housing;

[0009] An annular inner support structure, which is arranged on the rotating shaft;

[0010] An annular outer support structure, which is arranged on the joint housing and is located on the outer periphery of the annular inner support structure;

[0011] An encoder assembly, which includes a code disc and an identification member arranged oppositely, and one of the code disc and the identification member is arranged on the annular inner support structure, and the other is arranged on the annular outer support structure;

[0012] A first bearing, which is supported between the annular inner support structure and the annular outer support structure.

[0013] Optionally, the annular inner support structure includes an inner support sleeve, the annular outer support structure includes an outer support sleeve, and the first bearing is supported between the inner support sleeve and the outer support sleeve.

[0014] Optionally, the annular inner support structure further includes an inner support plate, which is connected to the inner support sleeve and is located on the side of the first bearing in the axial direction. The code disk is arranged on the inner support plate, and the identification member is arranged on the outer support sleeve and is opposite to the code disk in the axial direction of the first bearing.

[0015] Optionally, it further includes an inner shaft sleeve, an annular support structure, and a second bearing. The inner shaft sleeve is rotatably inserted into the rotating shaft, the annular support structure is arranged on the annular inner support structure, and the second bearing is supported between the annular support structure and the inner shaft sleeve.

[0016] Optionally, a first limiting step is provided on the annular support structure, and the outer side surface and the axial end surface of the outer ring of the second bearing are respectively abutted against the two step surfaces of the first limiting step.

[0017] Optionally, the annular support structure includes a first annular structure and a second annular structure. The first annular structure is arranged on the annular inner support structure, the second annular structure is detachably arranged on the first annular structure, and the first limiting step is arranged on the second annular structure.

[0018] Optionally, a second limiting step is provided on the inner shaft sleeve, and the axial end surface and the inner side surface of the inner ring of the second bearing are respectively abutted against the two step surfaces of the second limiting step. In the axial direction of the second bearing, the second bearing is arranged between the first limiting step and the second limiting step.

[0019] Optionally, a first positioning step is provided on the annular outer support structure, and the outer ring of the first bearing is matched with the first positioning step.

[0020] Optionally, a second positioning step is provided on the annular inner support structure, and the inner ring of the first bearing is matched with the second positioning step. In the axial direction of the first bearing, the first bearing is arranged between the first positioning step and the second positioning step.

[0021] A robot joint includes the above encoder mounting structure.

[0022] The beneficial effects of the present utility model:

[0023] The encoder mounting structure and the robot joint provided in this embodiment have a ring-shaped outer support structure fixed on the joint housing, with the rotating shaft rotating at a high speed, driving the ring-shaped inner support structure to rotate. As a result, the code disk and the recognition component rotate relative to each other at a high speed. The encoder assembly collects the position of the rotating shaft, and the first bearing supports between the ring-shaped outer support structure and the ring-shaped inner support structure, enabling the fixed ring-shaped outer support structure to rotationally support the high-speed rotating shaft through the first bearing, improving the smoothness of the rotating shaft at this position. Description of the Drawings

[0024] Figure 1 is a schematic diagram of the encoder mounting structure in the robot joint provided by the embodiment of the present utility model;

[0025] Figure 2 is a partial schematic diagram of the encoder mounting structure of the present utility model.

[0026] In the figure:

[0027] 1. First bearing; 2. Second bearing;

[0028] 100. Ring-shaped inner support structure; 101. Inner support sleeve; 102. Inner support plate; 103. Second positioning step;

[0029] 200. Ring-shaped outer support structure; 201. Outer support sleeve; 202. First positioning step;

[0030] 300. Encoder assembly; 301. Code disk; 302. Recognition component;

[0031] 400. Joint housing; 500. Rotating shaft; 600. Inner side shaft sleeve; 601. Second limiting step; 700. Ring-shaped support structure; 701. First ring structure; 702. Second ring structure; 703. First limiting step. Detailed Embodiment

[0032] The following further elaborates on the present utility model in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are merely used to explain the present utility model and do not limit the present utility model. Additionally, it should be noted that for the sake of description, only the parts related to the present utility model rather than all the structures are shown in the drawings.

[0033] In the description of the present utility model, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0034] In the present utility model, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "above the top of", and "on the upper surface of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "below the bottom of", and "on the lower surface of" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0035] In the description of this embodiment, the orientation or positional relationships such as "upper", "lower", "right", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0036] As Figure 1 shown, this embodiment provides an encoder mounting structure and a robot joint. The encoder mounting structure can be used on the robot joint. The encoder mounting structure includes a joint housing 400, a rotating shaft 500, an annular inner support structure 100, an annular outer support structure 200, an encoder assembly 300, and a first bearing 1.

[0037] The rotating shaft 500 is located inside the joint housing 400. The annular inner support structure 100 is arranged on the rotating shaft 500. The annular outer support structure 200 is arranged on the joint housing 400 and is located on the outer periphery of the annular inner support structure 100. The encoder assembly 300 includes a code disk 301 and an identification member 302 arranged oppositely, and one of the code disk 301 and the identification member 302 is arranged on the annular inner support structure 100, and the other is arranged on the annular outer support structure 200. The first bearing 1 is supported between the annular inner support structure 100 and the annular outer support structure 200.

[0038] In the encoder mounting structure provided in this embodiment, the annular outer support structure 200 remains fixed on the joint housing 400, and the rotating shaft 500 rotates at a high speed, driving the annular inner support structure 100 to rotate. As a result, the code disk 301 and the recognition member 302 rotate relative to each other at a high speed. The encoder assembly 300 collects the position of the rotating shaft 500, and the first bearing 1 is supported between the annular outer support structure 200 and the annular inner support structure 100. Thus, the fixed annular outer support structure 200 rotationally supports the high-speed rotating rotating shaft 500 through the first bearing 1, improving the smoothness of the rotating shaft 500 at this position.

[0039] In this embodiment, the recognition member 302 includes a PCBA board provided with a read head, and the PCBA board is locked to one end of the annular outer support structure 200 by screws.

[0040] In this embodiment, the robot joint further includes a frameless motor, and the rotating shaft 500 is connected to the motor rotor of the frameless motor and can rotate at a high speed under the drive of the motor rotor.

[0041] As Figure 2 shown, optionally, the annular inner support structure 100 includes an inner support sleeve 101, the annular outer support structure 200 includes an outer support sleeve 201, and the first bearing 1 is supported between the inner support sleeve 101 and the outer support sleeve 201. The structures of the annular inner support structure 100 and the annular outer support structure 200 are simple, and the support stability is good.

[0042] As Figure 2 shown, optionally, the annular inner support structure 100 further includes an inner support plate 102. The inner support plate 102 is connected to the inner support sleeve 101 and is located on the side of the first bearing 1 in the axial direction. The code disk 301 is arranged on the inner support plate 102, and the recognition member 302 is arranged on the outer support sleeve 201 and is opposite to the code disk 301 in the axial direction of the first bearing 1. That is to say, on the side of the first bearing 1 in the axial direction, the inner support plate 102 supports the code disk 301, keeping the code disk 301 on the annular inner support structure 100, with a compact layout and no mutual interference with the first bearing 1. In this embodiment, the code disk 301 is a magnetic code disk.

[0043] As Figure 2 shown, optionally, a first positioning step 202 is provided on the annular outer support structure 200, and the outer ring of the first bearing 1 is matched with the first positioning step 202. Specifically, the two step surfaces of the first positioning step 202 are respectively abutted against the axial end face and the outer side face of the outer ring of the first bearing 1, so as to be positioned axially and radially, facilitating assembly and ensuring assembly accuracy.

[0044] As Figure 2As shown, optionally, a second positioning step 103 is provided on the annular inner support structure 100. The inner ring of the first bearing 1 is engaged with the second positioning step 103. In the axial direction of the first bearing 1, the first bearing 1 is disposed between the first positioning step 202 and the second positioning step 103. Specifically, the two step surfaces of the second positioning step 103 are respectively abutted against the axial end face and the inner side face of the inner ring of the first bearing 1, so as to be positioned with each other in the axial and radial directions, which is convenient for assembly and ensures the assembly accuracy. Moreover, the two end faces on both sides of the first bearing 1 in the axial direction are respectively abutted against the first positioning step 202 and the second positioning step 103, which is beneficial to maintaining the installation position of the first bearing 1.

[0045] Combined Figure 1 and Figure 2 As shown, optionally, the encoder mounting structure further includes an inner shaft sleeve 600, an annular support structure 700, and a second bearing 2. The inner shaft sleeve 600 is rotatably disposed through the rotating shaft 500. The annular support structure 700 is disposed on the annular inner support structure 100. The second bearing 2 is supported between the annular support structure 700 and the inner shaft sleeve 600. Through the above settings, the second bearing 2 is rotatably supported between the annular support structure 700 and the inner shaft sleeve 600, making the operation of the robot joint more stable. Further, the second bearing 2 is dynamically sealed between the annular support structure 700 and the inner shaft sleeve 600, thereby sealing the grease cavity between the inner shaft sleeve 600 and the rotating shaft 500.

[0046] Optionally, a first limiting step 703 is provided on the annular support structure 700. The outer side face and the axial end face of the outer ring of the second bearing 2 are respectively abutted against the two step surfaces of the first limiting step 703. Thus, they are positioned with each other in the axial and radial directions, which is convenient for assembly and ensures the assembly accuracy.

[0047] Optionally, a second limiting step 601 is provided on the inner shaft sleeve 600. The axial end face and the inner side face of the inner ring of the second bearing 2 are respectively abutted against the two step surfaces of the second limiting step 601, so as to be positioned with each other in the axial and radial directions, which is convenient for assembly and ensures the assembly accuracy. In the axial direction of the second bearing 2, the second bearing 2 is disposed between the first limiting step 703 and the second limiting step 601. The two end faces on both sides of the second bearing 2 in the axial direction are respectively abutted against the first limiting step 703 and the second limiting step 601, which is beneficial to maintaining the installation position of the second bearing 2.

[0048] Optionally, the annular support structure 700 includes a first annular structure 701 and a second annular structure 702. The first annular structure 701 is disposed on the annular inner support structure 100. The second annular structure 702 is detachably disposed on the first annular structure 701. The first limiting step 703 is provided on the second annular structure 702. In this embodiment, the second annular structure 702 is locked to the first annular structure 701 by screws. AsFigure 2 As shown, during installation, the first annular structure 701 and the annular inner support structure 100 are first installed on the axial end face of the rotating shaft 500 with screws. Then, the second bearing 2 is sleeved on the inner shaft sleeve 600, and its lower axial end face abuts against the second limiting step 601. Finally, the second annular structure 702 is installed on the first annular structure 701, and the first limiting step 703 abuts against the upper side end face of the second bearing 2, completing the installation of the second bearing 2.

[0049] Obviously, the above embodiments of the present invention are merely examples for clearly explaining the present invention, rather than limiting the implementation manners of the present invention. For those of ordinary skill in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. An encoder installation structure, characterized in that: include: Joint housing (400); A rotation axis (500), wherein the rotation axis (500) is located inside the joint housing (400); an annular inner support structure (100), wherein the annular inner support structure (100) is arranged on the rotating shaft (500); an annular outer supporting structure (200), the annular outer supporting structure (200) being arranged on the joint housing (400) and being located on the outer periphery of the annular inner supporting structure (100); An encoder assembly (300), the encoder assembly (300) comprising a code disc (301) and an identification member (302) arranged opposite to each other, one of the code disc (301) and the identification member (302) being arranged on the annular inner support structure (100), and the other being arranged on the annular outer support structure (200); A first bearing (1), the first bearing (1) is supported between the annular inner support structure (100) and the annular outer support structure (200).

2. The encoder installation structure according to claim 1, characterized in that: The annular inner support structure (100) comprises an inner support sleeve (101), the annular outer support structure (200) comprises an outer support sleeve (201), and the first bearing (1) is supported between the inner support sleeve (101) and the outer support sleeve (201).

3. The encoder installation structure according to claim 2, characterized in that: The annular inner support structure (100) further comprises an inner support plate (102), wherein the inner support plate (102) is connected to the inner support sleeve (101) and is located on the side of the first bearing (1) in the axial direction, the code disc (301) is arranged on the inner support plate (102), and the identification element (302) is arranged on the outer support sleeve (201) and is opposite to the code disc (301) in the axial direction of the first bearing (1).

4. The encoder installation structure according to claim 1, characterized in that: It also includes an inner sleeve (600), an annular support structure (700) and a second bearing (2), wherein the inner sleeve (600) is rotatably inserted into the rotating shaft (500), the annular support structure (700) is arranged on the annular inner support structure (100), and the second bearing (2) is supported between the annular support structure (700) and the inner sleeve (600).

5. The encoder installation structure according to claim 4, characterized in that: The annular support structure (700) is provided with a first limiting step (703), and the outer side surface and the axial end surface of the outer ring of the second bearing (2) are respectively pressed against two step surfaces of the first limiting step (703).

6. The encoder installation structure according to claim 5, characterized in that: The annular support structure (700) comprises a first annular structure (701) and a second annular structure (702); the first annular structure (701) is arranged on the annular inner support structure (100); the second annular structure (702) is detachably arranged on the first annular structure (701); and the first limiting step (703) is arranged on the second annular structure (702).

7. The encoder installation structure according to claim 5, characterized in that: A second limiting step (601) is provided on the inner sleeve (600), and the axial end face and inner side face of the inner ring of the second bearing (2) are respectively pressed against two step faces of the second limiting step (601). In the axial direction of the second bearing (2), the second bearing (2) is arranged between the first limiting step (703) and the second limiting step (601).

8. The encoder installation structure according to any one of claims 1 to 7, characterized in that: The annular outer support structure (200) is provided with a first positioning step (202), and the outer ring of the first bearing (1) cooperates with the first positioning step (202).

9. The encoder installation structure according to claim 8, characterized in that: A second positioning step (103) is provided on the annular inner support structure (100), and the inner ring of the first bearing (1) cooperates with the second positioning step (103). In the axial direction of the first bearing (1), the first bearing (1) is arranged between the first positioning step (202) and the second positioning step (103).

10. A robot joint, characterized in that: The invention comprises the encoder mounting structure as described in any one of claims 1 to 9.

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