Robot, robot double-encoder assembly and fixing device

Abstract

The utility model discloses a robot, a robot double-encoder assembly and a fixing device. The fixing device comprises an encoder movable disc flange and a fixing bolt or a fixing screw. The encoder movable disc flange is sleeved on a shaft connected with the output end cover of the speed reducer and is provided with a mounting surface matched with the shaft connected with the output end cover of the speed reducer; the upper end of the encoder movable disc flange is of a hoop structure, and the shaft is tightened by the encoder movable disc flange through a fixing bolt or a fixing screw; the lower end of the encoder movable disc flange is used for being connected with a first encoder movable disc at the far end of the robot. According to the utility model, the upper end of the encoder movable disc flange is of a hoop structure, and the shaft, extending from the front, of the output end cover of the speed reducer is held, so that the coaxiality and parallelism of the structure are prevented from being lost, and the mounting 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 a fixing 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] Regarding the dual-encoder structure design on the market, the shaft connecting the encoder movable disc flange at the far end and the reducer output flange is directly tightened with the shaft through a set screw. This tightening method causes the encoder movable disc flange to be eccentric and is not conducive to secondary disassembly. The shaft is easily damaged, which makes it difficult to disassemble the encoder movable disc flange. Utility Model Content

[0004] The purpose of the utility model is to provide a robot, a robot dual encoder assembly and a fixing device, which are used to solve the problem in the prior art that the encoder moving disc flange is directly fixed to the shaft connected to the output end cover of the reducer by a set screw, resulting in eccentricity of the encoder moving disc flange during assembly, which easily leads to a large gap error between the first encoder moving disc and the first encoder static disc, resulting in assembly abnormality.

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

[0006] A robot dual-encoder fixing device includes: an encoder moving disc flange, and fixing bolts or screws; the encoder moving disc flange is sleeved on a shaft connected to a reducer output end cover, and is provided with a mounting surface that matches the shaft connected to the reducer output end cover; the upper end of the encoder moving disc flange is a clamping structure, and the encoder moving disc flange is tightened to the shaft by fixing bolts or screws; the lower end of the encoder moving disc flange is used to connect to the first encoder moving disc at the far end of the robot.

[0007] In one implementation scheme, a second L-shaped notch is provided on the side of the encoder moving disc flange, and a fixing bolt or a fixing screw passes through the second notch to tighten the encoder moving disc flange to the shaft.

[0008] In one implementation scheme, a first notch is provided in the encoder moving disc flange, penetrating the upper and lower end surfaces.

[0009] In one embodiment, the mounting surface is clearance-matched with the shaft connected to the output end cover of the reducer.

[0010] At the same time, the utility model also provides a robot dual encoder assembly, including the robot dual encoder fixing device as described above, an encoder static disk flange, a first encoder and a second encoder.

[0011] In one embodiment, 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; the encoder dynamic disk flange is connected to the shaft connected to the output end cover of the reducer, and one end of the encoder dynamic disk flange is connected to the first encoder dynamic disk;

[0012] The first encoder static disk is arranged in parallel with the first encoder dynamic disk, and the second encoder static disk is arranged in parallel with the second encoder dynamic disk;

[0013] The first encoder stator and the second encoder stator are respectively provided with a mounting portion connected to the encoder stator flange; the second encoder movable plate is provided with a mounting portion connected to the brake.

[0014] At the same time, the utility model also provides a robot, including a dual-encoder joint shaft, the dual-encoder joint shaft including the robot dual-encoder assembly as described above, a rear cover covering the shell, a reducer and a motor; the encoder static disk flange 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 motor and the shell; the reducer is connected to the motor.

[0015] In one 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] In one embodiment, a countersunk hole connected to the brake flange is further 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 encoder moving disc flange with a clamp structure at the upper end to hold the shaft extending from the front of the output end cover of the reducer, thereby preventing the loss of the coaxiality and parallelism of the structure itself, 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 are 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] Refer to the attached Figure 4-6 A robot dual-encoder fixing device includes an encoder movable disk flange 3 and a connecting component. The encoder movable disk flange 3 is sleeved on a shaft connected to the reducer output end cover 141 and has a mounting surface that matches the shaft connected to the reducer output end cover 141. The upper end of the encoder movable disk flange 3 is a clamping structure, and the encoder movable disk flange 3 is tightened to the shaft by fixing bolts or fixing screws as connecting components.

[0033] The lower end of the encoder moving disc flange 3 is used to connect to the first encoder moving disc 5 at the far end of the robot.

[0034] Specifically, 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.

[0035] Furthermore, the mounting surface is clearance-matched with the shaft connected to the output end cover of the speed reducer to ensure the amount of compression of movement.

[0036] Example 2

[0037] Combined with attachment Figure 1 As shown, a robot dual encoder assembly includes the fixing device described in Example 1, an encoder stator flange, a first encoder and a second encoder.

[0038] In one embodiment, the first encoder includes a first encoder static disk 4 and a first encoder dynamic disk 5; the second encoder includes a second encoder static disk 7 and a second encoder dynamic disk 8; the encoder dynamic disk flange 3 is connected to the shaft connected to the output end cover of the reducer, and one end of the encoder dynamic disk flange 3 is connected to the first encoder dynamic disk 5;

[0039] The first encoder static disk 4 is arranged in parallel with the first encoder dynamic disk 5, and the second encoder static disk 7 is arranged in parallel with the second encoder dynamic disk 8;

[0040] The first encoder stator plate 4 and the second encoder stator plate 7 are respectively provided with a mounting portion connected to the encoder stator plate flange; the second encoder movable plate 8 is provided with a mounting portion connected to the brake 9.

[0041] A feasible implementation plan:

[0042] The encoder stator flange includes encoder stator flange A6 and encoder stator flange B17. Encoder stator flange B is an annular clamp structure. Encoder stator flange A is movably nested within the annular cavity of encoder stator flange B. Encoder stator flange B is tightly clamped to encoder stator flange A by fixing bolts or screws. Encoder stator flange B has a connection portion for fixed assembly with the robot joint housing. Encoder stator flange A is used to connect the two encoder stators.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] In a specific embodiment, referring to the attached Figure 1 、 2 As shown:

[0048] 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 circumferential notch 172 is formed within it, allowing it to engage with a set screw or bolt extending through the encoder stator flange A6, thereby securing the encoder stator flange A6 within the encoder stator flange B17. The structure of the third notch 172 is similar to the shape and structure of the second notch 32. Preferably, the upper and lower sides of the encoder stator flange A are connected to the first and second encoder stators via screws, respectively. These screws allow the distance between the first and second encoder stators to be adjusted, and the encoder stator flange B holds the encoder stator flange A, thereby adjusting the gap between the two encoders. This dual-encoder installation structure meets encoder installation requirements and ensures stable assembly in large quantities. The set screws or bolts prevent displacement between the encoder stator flange A6 and the encoder stator flange B17.

[0049] Example 3

[0050] Combined with attachment Figure 1 As shown, a robot includes a robot dual encoder assembly as described in Example 2, a rear cover 16 covering the shell 15, a reducer and a motor; wherein the reducer and the motor are connected in a transmission manner, and 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] Refer to the attached Figure 3As 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 shape at intervals in the middle thereof, and the second encoder moving disk 8 is arranged above the brake 9 through the second mounting hole; 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, and 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.

[0055] 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.

[0056] 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 fixing device, characterized in that: include: The encoder movable disc flange and fixing bolts or screws are provided. The encoder movable 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 movable disc flange is a clamping structure, and the encoder movable disc flange is tightened to the shaft by fixing bolts or screws. The lower end of the encoder movable disc flange is used to connect to the first encoder movable disc at the far end of the robot.

2. A robot dual encoder fixing device according to claim 1, characterized in that: A second L-shaped notch is provided on the side of the encoder moving disc flange, and a fixing bolt or a fixing screw passes through the second notch to tighten the encoder moving disc flange to the shaft.

3. A robot dual encoder fixing device according to claim 1, characterized in that: The encoder moving disc flange is provided with a first notch penetrating the upper and lower end surfaces.

4. A robot dual encoder fixing device according to claim 1, characterized in that: The mounting surface is clearance-matched with the shaft connected to the output end cover of the reducer.

5. A robot dual encoder assembly, characterized in that: The invention comprises a robot dual-encoder fixing device as described in any one of claims 1 to 4, an encoder static 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; the encoder dynamic disk flange is connected to the shaft connected to the output end cover of the reducer, and one end of the encoder dynamic disk flange is connected to the first encoder dynamic disk; The first encoder static disk is arranged in parallel with the first encoder dynamic disk, and the second encoder static disk is arranged in parallel with the second encoder dynamic disk; The first encoder stator and the second encoder stator are respectively provided with a mounting portion connected to the encoder stator flange; the second encoder movable plate is provided with a mounting portion connected to the brake.

7. A robot comprising a dual encoder joint axis, characterized in that: The dual-encoder joint shaft includes the robot dual-encoder assembly as described in claim 5 or 6, a rear cover covering the shell, a reducer and a motor; the encoder static disk flange 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 motor and the shell; the reducer is connected to the motor.

8. A robot according to claim 7, characterized in that: 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 disk.

9. A robot according to claim 7, characterized in that: The outer side of the brake is also provided with a sink hole connected to the brake flange.

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