Robot, robot double-encoder assembly and adjusting device

Abstract

The utility model discloses a robot, a robot double-encoder assembly and an adjusting device. The adjusting device comprises an encoder static disc flange A, an encoder static disc flange B and fixing bolts or fixing screws. The encoder static disc flange B is of an annular hoop structure and is provided with a connecting part assembled with a robot joint shell; the encoder static disc flange A is used for connecting two encoder static discs, the encoder static disc flange A is movably embedded in an annular cavity of the encoder static disc flange B, and the encoder static disc flange A is tightly hooped by the encoder static disc flange B through a fixing bolt or a fixing screw. According to the utility model, the encoder static disc flange A is tightly hooped by the encoder static disc flange B with the annular hoop structure, so that the coaxiality and the parallelism of the two encoders are ensured, and the installation precision is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot, a robot double encoder component and an adjusting device. Background Art

[0002] As the core of modern automation, robotics is increasingly valued for its precise control, efficient execution, and safety. In complex operating environments, robots must possess high-precision position sensing and dynamic adjustment capabilities to meet diverse challenges. The dual-encoder mounting structure is one of the key technologies designed to achieve this goal.

[0003] Dual encoder designs currently available on the market all utilize stacked locking screws. In this design, the spacing between the encoder's static and dynamic discs is fixed. Due to inherent tolerances in the reducer and machining errors, the gap between the two encoders cannot be adjusted during assembly. Utility Model Content

[0004] The purpose of the utility model is to provide a robot, a robot dual encoder assembly and an adjustment device, which are used to solve the problem in the prior art of using stacked locking screws to install dual encoders, which easily leads to a large gap error between the two encoders and causes assembly abnormalities.

[0005] The utility model solves the above problems through the following technical solutions:

[0006] A robot dual-encoder adjustment device includes an encoder stator flange A, an encoder stator flange B, and fixing bolts or fixing screws; the encoder stator flange B is an annular clamp structure, provided with a connection portion fixedly assembled with the robot joint housing; the encoder stator flange A is used to connect two encoder stators, and the encoder stator flange A is movably embedded in the annular cavity of the encoder stator flange B, and the encoder stator flange B is tightened to the encoder stator flange A by fixing bolts or fixing screws.

[0007] As an implementation scheme, the encoder stator flange B is provided with a third notch connecting the axial portion and the annular portion, and a fixing bolt or a fixing screw passes through the axial portion of the third notch to tighten the encoder stator flange A.

[0008] As an implementation scheme, the encoder stator flange A and the encoder stator flange B are clearance-matched before being tightened.

[0009] As an implementation scheme, a plurality of stud holes matching with the housing are formed on the outside of the encoder stator flange B, and the encoder is fixedly assembled with the robot joint housing through the stud holes.

[0010] In addition, the present invention also provides a robot dual encoder assembly, comprising the robot dual encoder adjustment device as described above, an encoder moving disk flange, a first encoder, and a second encoder.

[0011] As an implementation scheme, the first encoder includes a first encoder stator disk and a first encoder movable disk; the second encoder includes a second encoder stator disk and a second encoder movable disk; one end of the encoder stator disk flange A is connected to the first encoder stator disk, and the other end is connected to the second encoder stator disk; the first encoder stator disk is arranged in parallel with the first encoder movable disk, and the second encoder stator disk is arranged in parallel with the second encoder movable disk; the first encoder movable disk is provided with a mounting portion connected to the encoder movable disk flange; the second encoder movable disk is provided with a mounting portion connected to the brake.

[0012] As an implementation scheme, the encoder stator flange A is provided with a plurality of screw holes, and the first encoder stator and the second encoder stator are connected to the encoder stator flange A via screws, respectively.

[0013] In addition, the utility model also provides a robot, including a dual-encoder joint axis;

[0014] The dual-encoder joint shaft includes the robot dual-encoder assembly as described above, a housing, a rear cover covering the housing, a reducer and a motor; the encoder static disk flange B is connected to the housing; the first encoder dynamic disk of the first encoder is connected to the shaft connected to the output end cover of the reducer; the second encoder dynamic disk of the second encoder is connected to the brake; the brake is respectively connected to the motor and the housing; and the reducer is connected to the motor.

[0015] As an embodiment, the brake is provided with a second mounting hole connected to the motor rotor shaft, and a first mounting hole connected to the second encoder moving plate.

[0016] As an implementation scheme, a countersunk hole connected to the brake flange is provided on the outside of the brake.

[0017] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0018] (1) The utility model adopts an annular clamp structure to clamp the encoder stator flange B to the encoder stator flange A, so as to ensure the coaxiality and parallelism of the two encoders, thereby improving the installation accuracy.

[0019] (2) The installation method of the two encoders of the present invention is novel. By installing the first encoder stator and the second encoder stator at the upper and lower sides of the encoder stator flange A respectively, structural parts are effectively saved, the internal structure is simplified, and the installation positions of the two encoders can be ensured, thereby reducing the gap error.

[0020] (3) The second encoder dynamic disk of the present invention is directly fixed on the brake, and the brake is fixed on the rotor shaft. Through the series connection, the connection of structural parts is reduced and the space structure is saved.

[0021] (4) The upper and lower sides of the encoder stator flange A of the present invention are connected to the first encoder stator and the second encoder stator by screws respectively. The distance between the first encoder stator and the second encoder stator can be adjusted by the screws, and the encoder stator flange A is held by the encoder stator flange B, thereby playing the role of adjusting the gap between the two encoders; the dual encoder structure installation can meet the encoder installation requirements and ensure the stability of large-scale assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic structural diagram of a dual-encoder robot joint of the utility model;

[0023] Figure 2 This is a structural diagram of the stator flange B of the encoder of the present utility model;

[0024] Figure 3 This is a schematic diagram of the structure of the brake of the utility model;

[0025] Figure 4 This is a schematic diagram of the installation of the encoder dynamic disc flange, the first encoder static disc and the encoder static disc flange B of the utility model;

[0026] Figure 5 This is a schematic diagram of the structure of the encoder moving disc flange of the utility model;

[0027] Figure 6 This is a schematic diagram of the installation of a robot dual encoder assembly of the utility model;

[0028] Figure 7 This is a structural diagram of the static disk of the second encoder of the present utility model.

[0029] Figure numerals: 1. Cable fixing sheet metal; 2. Driver; 3. Encoder moving disk flange; 31. First slot; 32. Second slot; 4. First encoder static disk; 5. First encoder moving disk; 6. Encoder static disk flange A; 7. Second encoder static disk; 8. Second encoder moving disk; 9. Brake; 91. First mounting hole; 92. Second mounting hole; 93. Countersunk hole; 10. Brake flange; 11. Frameless torque motor stator; 12. Frameless torque motor rotor; 13. Rotor shaft; 14. Reducer; 141. Reducer output end cover; 142. Reducer first bearing; 143. Reducer wave generator; 144. Reducer second bearing; 145. Reducer rear end cover; 15. Housing; 16. Rear cover; 17. Encoder static disk flange B; 171. Stud hole; 172. Third slot. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] Example 1

[0032] Combined with attachment Figure 1-2 As shown, a robot dual-encoder adjustment device includes an encoder stator flange and fixing bolts or fixing screws; the encoder stator flange includes an encoder stator flange A6 and an encoder stator flange B17; the encoder stator flange B17 is an annular clamp structure, the encoder stator flange A6 is movably nested in the annular cavity of the encoder stator flange B17, and the encoder stator flange B17 is tightened to the encoder stator flange A6 by fixing bolts or fixing screws; the encoder stator flange B17 is provided with a connection portion fixedly assembled with the robot joint housing; the encoder stator flange A6 is used to connect two encoder stators.

[0033] Furthermore, the encoder stator flange B17 is provided with a third slot 172 connecting the axial portion and the annular portion. If the entire third slot is L-shaped, it provides space for movement during the tightening process, and the fixing bolt or fixing screw passes through the axial portion of the third slot to tighten the encoder stator flange A.

[0034] Preferably, the encoder stator flange A and the encoder stator flange B are clearance-matched before tightening, and the encoder stator and moving disk are installed. After the assembly parallel requirements are met, the encoder stator flange B is tightened.

[0035] Refer to the attached Figure 2 The encoder stator flange B17 is formed with a plurality of stud holes 171 that match the housing 15, and is fixed to the robot joint housing using screws or screws through the stud holes.

[0036] This application provides an exemplary assembly scheme, as shown in Examples 2 and 3:

[0037] Example 2

[0038] Combined with attachment Figure 1 As shown, a robot dual encoder assembly includes the robot dual encoder adjustment device described in Example 1, an encoder moving disk flange, a first encoder and a second encoder.

[0039] Among them, the first encoder includes a first encoder static disk 4 and a first encoder dynamic disk 5. The encoder dynamic disk flange 3 is sleeved on the outside of the shaft connected to the reducer output end cover 141. The upper end passes through the first encoder dynamic disk 5 and the first encoder static disk 4 from bottom to top in sequence. The lower end of the encoder dynamic disk flange 3 is fixedly connected to the first encoder dynamic disk 5 by screws; the first encoder static disk 4 is fixedly arranged above the encoder static disk flange A6 by screws; the encoder static disk flange A6 is an annular structure and is arranged outside the lower ends of the first encoder dynamic disk 5 and the encoder dynamic disk flange 3.

[0040] The second encoder includes a second encoder static disk 7 and a second encoder dynamic disk 8, fixed screws or bolts; the second encoder static disk 7 is connected to the encoder static disk flange A6 by screws and is fixedly arranged below the encoder static disk flange A6, and the second encoder dynamic disk 8 is connected to the brake 9 by screws and is arranged above the brake 9. A specific embodiment, such as Figure 1 As shown in the figure, the first encoder stator 4 of the first encoder and the second encoder stator 7 of the second encoder are respectively fixed to the upper and lower sides of the encoder stator flange A6 by screws. Preferably, the screws of the first encoder stator 4 and the second encoder stator 7 are arranged coaxially to facilitate the installation of the screw holes of the encoder stator flange A6. This installation arrangement, along with the installation of the first encoder rotor 5 and the second encoder rotor 8, allows for quick installation of the two encoders, simplifying the installation process.

[0041] In a specific embodiment, referring to the attached Figure 1 、 2 As shown:

[0042] The encoder stator flange B17 is an annular clamp structure with several stud holes 171 formed on its exterior, allowing it to be secured to the housing 15 via studs. A third notch 172, connecting the axial portion and the annular portion, is formed within the flange. The axial portion of the third notch 172 engages a set screw or bolt, securing the encoder stator flange A6 to the encoder stator flange B17. By tightening the set screw or bolt, the distance between the encoder stator and rotor can be adjusted or fine-tuned, correcting the parallelism between the stator and rotor, improving their parallelism, and reducing robot anomalies caused by poor parallelism.

[0043] Preferably, the upper and lower sides of the encoder stator flange A are connected to the first encoder stator and the second encoder stator by screws respectively. The distance between the first encoder stator and the second encoder stator can be adjusted by the screws, and the encoder stator flange A is held by the encoder stator flange B, thereby adjusting the gap between the two encoders; the dual encoder structure installation can meet the encoder installation requirements and ensure stable large-scale assembly; and the encoder stator flange A6 and the encoder stator flange B17 can be prevented from displacement by fixing screws or fixing bolts.

[0044] The encoder moving disc flange 3 is connected to the shaft connected to the output end cover of the reducer. For example, the encoder moving disc flange 3 is provided with a radial through threaded hole, and a matching fastening screw is screwed into the threaded hole to realize the top connection with the shaft connected to the output end cover of the reducer to fix the encoder moving disc flange 3.

[0045] A feasible implementation plan:

[0046] Refer to the attached Figure 4-6 The encoder moving disc flange 3 adopts a clamp structure. The encoder moving disc flange is sleeved on the shaft connected to the output end cover of the reducer, and is provided with a mounting surface that matches the shaft connected to the output end cover of the reducer; the upper end of the encoder moving disc flange is a clamp structure, and the encoder moving disc flange is tightened to the shaft through fixing bolts or fixing screws as connecting components; the lower end of the encoder moving disc flange is used to connect the first encoder moving disc at the far end of the robot.

[0047] A plurality of first notches 31 are formed parallel to the axial direction within the encoder rotor flange 3. A second notch 32 is formed circumferentially connected to the upper opening of the encoder rotor flange 3. Fixing bolts or screws pass through the encoder rotor flange 3 to clamp the reducer output end cover 141 and tighten the encoder rotor flange 3 through deformation. The second notches 32 have the same shape and structure as the third notch 172.

[0048] In a specific implementation scheme, the encoder movable disc flange 3 is provided with a first notch 31 that passes through the upper and lower end surfaces, such as parallel to the axial direction, so that the encoder movable disc flange 3 has a certain amount of compression, reduces stress, and prevents material breakage after locking; the encoder movable disc flange 3 is circumferentially connected to the axial upper end opening to form a second notch 32, refer to the attached Figure 5 The second slot 32 is L-shaped, providing space for movement during the tightening process. A fixing bolt or a fixing screw is used as a connecting component to pass through the second slot 32 of the encoder movable disk flange 3, and the encoder movable disk flange 3 is tightened by tightening it, so that the encoder movable disk flange 3 is deformed, and then the reducer output end cover 141 is clamped.

[0049] The mounting surface is matched with the shaft clearance connected to the output end cover of the reducer to ensure the compression amount of movement.

[0050] Refer to the attached Figure 7 A plurality of screw holes are provided in the circumferential direction of the encoder stator flange A6 so as to mount the first encoder stator 4 and the second encoder stator 7 through the screw holes.

[0051] Example 3

[0052] Combined with attachment Figure 1 As shown, a robot includes a robot dual encoder assembly as described in Example 2, a shell, a rear cover 16 covering the shell 15, a reducer and a motor; the frameless torque motor is transmission-connected to the reducer; the encoder static disk flange B is connected to the shell; the first encoder dynamic disk of the first encoder is connected to the shaft connected to the output end cover of the reducer; the second encoder dynamic disk of the second encoder is connected to the brake; and the brake is respectively connected to the frameless torque motor and the shell.

[0053] The reducer 14 is selected from a harmonic reducer, and includes a general harmonic reducer structure including a reducer output end cover 141 , a reducer first bearing 142 , a reducer wave generator 143 , a reducer second bearing 144 , a reducer rear end cover 145 , and the like.

[0054] The motor includes a frameless torque motor structure including a frameless torque motor stator 11, a frameless torque motor rotor 12 and a rotor shaft 13. The frameless torque motor is fixed to a housing 15 by bonding.

[0055] Refer to the attached Figure 3 As shown, the brake 9 is provided with a first mounting hole 91 and a second mounting hole 92. The first mounting hole 91 and the second mounting hole 92 are arranged in a circular pattern at intervals in the middle thereof. It is connected to the second encoder moving disk 8 through the first mounting hole 91 and is connected to the motor rotor shaft 13 through the second mounting hole 92. A plurality of countersunk holes 93 are also provided on the outer side of the upper end of the brake 9. Screws are connected to the brake flange 10 through the countersunk holes 93 to set the brake 9 above the brake flange 10, and the brake flange 10 is fixed to the housing 15.

[0056] Furthermore, a cable fixing sheet metal 1 and a driver 2 are also provided in the rear cover 16 , and the cable fixing sheet metal 1 is fixed to the driver 2 via studs.

[0057] The installation method of the two encoders of the present invention is novel, especially the installation of the first encoder stator 4 and the first encoder moving disk 5. The encoder stator flange A6 is held by the encoder stator flange B17 fixing screws or fixing bolts. During this period, the encoder stator flange A6 can be adjusted in height, thereby playing the role of adjusting the gap between the two encoders. The encoder moving disk flange 3 holds the shaft extending from the front of the reducer output end cover 141. The traditional structure uses a set screw to lock the shaft of the reducer output end cover 141. This structure will lose the coaxiality and parallelism of the structure itself. Therefore, the utility model adopts the method of holding the reducer output end cover to effectively solve this problem. The second encoder stator 7 is fixed to the encoder stator flange A6 by reverse rotation, which effectively saves structural parts and simplifies the internal structure. The second encoder moving disk 8 is fixed to the brake 9, and the brake 9 is fixed to the rotor shaft 13. Through the series connection, the connection of structural parts is reduced and the space structure is saved.

[0058] Although the present invention is described herein with reference to the illustrative embodiments of the present invention, the above embodiments are merely preferred embodiments of the present invention, and the embodiments of the present invention are not limited to the above embodiments. It should be understood that those skilled in the art can design many other modifications and implementations, which will fall within the scope and spirit of the principles disclosed in this application.

Claims

1. A robot dual encoder adjustment device, characterized in that: It includes an encoder stator flange A, an encoder stator flange B, and fixing bolts or fixing screws; the encoder stator flange B is an annular clamp structure, provided with a connection part fixedly assembled with the robot joint housing; the encoder stator flange A is used to connect two encoder stators, and the encoder stator flange A is movably embedded in the annular cavity of the encoder stator flange B, and the encoder stator flange B is tightened to the encoder stator flange A by fixing bolts or fixing screws.

2. A robot dual encoder adjustment device according to claim 1, characterized in that: The encoder stator flange B is provided with a third notch connecting the axial portion and the annular portion, and a fixing bolt or a fixing screw passes through the axial portion of the third notch to tighten the encoder stator flange A.

3. A robot dual encoder adjustment device according to claim 1, characterized in that: The encoder stator flange A and the encoder stator flange B are clearance-matched before the clamp.

4. A robot dual encoder adjustment device according to claim 1, characterized in that: The encoder stator flange B is formed with a plurality of stud holes that match the housing, and is fixedly assembled with the robot joint housing through the stud holes.

5. A robot dual encoder assembly, characterized in that: The robot dual-encoder adjustment device comprises the robot dual-encoder adjustment device according to any one of claims 1 to 4, an encoder moving disk flange, a first encoder and a second encoder.

6. A robot dual encoder assembly according to claim 5, characterized in that: The first encoder includes a first encoder static disk and a first encoder dynamic disk; the second encoder includes a second encoder static disk and a second encoder dynamic disk; One end of the encoder stator flange A is connected to the first encoder stator, and the other end is connected to the second encoder stator; the first encoder stator is arranged in parallel with the first encoder moving disk, and the second encoder stator is arranged in parallel with the second encoder moving disk; The first encoder movable disc is provided with a mounting portion connected to the encoder movable disc flange; the second encoder movable disc is provided with a mounting portion connected to the brake.

7. A robot dual encoder assembly according to claim 6, characterized in that: The encoder stator flange A is provided with a plurality of screw holes, and the first encoder stator and the second encoder stator are respectively connected to the encoder stator flange A by screws.

8. A robot, characterized in that: Includes dual encoder joint axis; The dual-encoder joint shaft comprises the robot dual-encoder assembly according to any one of claims 5 to 7, a housing, a rear cover covering the housing, a reducer, and a motor; the encoder stator flange B is connected to the housing; the first encoder movable plate of the first encoder is connected to the shaft connected to the output end cover of the reducer; the second encoder movable plate of the second encoder is connected to the brake; The brake is connected to the motor and the housing respectively; and the reducer is connected to the motor.

9. A robot according to claim 8, characterized in that: The brake is provided with a second mounting hole connected to the motor rotor shaft of the motor, and a first mounting hole connected to the second encoder moving disk.

10. The robot according to claim 8, characterized in that: A sink hole connected to the brake flange is provided on the outside of the brake.

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