Multi-turn absolute value encoder

Abstract

The utility model discloses a multi-ring absolute value encoder which comprises an encoder body, a main shaft, a circuit board and a gear set. The encoder body is provided with an installation cavity used for containing the gear set, the main shaft is in running fit with the encoder body, the end, not connected with the driving mechanism, of the main shaft extends into the installation cavity, and the gear set is located in the installation cavity and is in transmission fit with the main shaft. The gear set comprises a driving gear fixedly connected to the main shaft in a sleeving mode, the driving gear is in transmission connection with multiple stages of transmission gears in sequential transmission, all the transmission gears are rotationally installed in the installation cavity, the rotating axes of all the transmission gears and the rotating axis of the driving gear extend in the same direction, and magnets are arranged on the end faces of the same sides of all the transmission gears. The reduction ratio between the driving gear and the first-stage transmission gear is 1: 1, and the reduction ratios between the other stages of transmission gears are sequentially increased, so that the multi-ring position can be recorded, the multi-ring measurement precision is effectively improved, various output forms of the main shaft can be met, and the application range is expanded.

Description

Technical Field

[0001] The utility model relates to the technical field of encoders, in particular to a multi-turn absolute value encoder. Background Art

[0002] Multi-turn absolute encoder is one of the essential elements of the core motor of industrial robot technology. For the number of measurable multi-turns as the standard, domestic production can be implemented 2 12 Multi-turn absolute encoders with turn counting meet the current prospects of multi-turn absolute encoder products. At the same time, they can meet various encoder output shaft forms, such as hollow shaft form, tapered shaft form and solid shaft form. Multi-turn absolute encoders are even more scarce, and are more convenient to adapt to various motor tail shaft forms, which has also become one of the focuses of multi-turn absolute encoder products. Utility Model Content

[0003] The purpose of this utility model is to provide a multi-turn absolute value encoder to solve the problems existing in the above-mentioned prior art. It can record multi-turn positions and effectively improve the accuracy of multi-turn measurements. At the same time, it can meet various output forms of the spindle and expand the scope of use.

[0004] To achieve the above-mentioned object, the present invention provides the following solution: The present invention provides a multi-turn absolute value encoder, comprising an encoder body, a main shaft, a circuit board and a gear set; the encoder body is provided with a mounting cavity for accommodating the gear set, the main shaft is rotatably engaged with the encoder body, and the end of the main shaft not connected to the drive mechanism extends into the mounting cavity, the gear set is located in the mounting cavity and is in transmission engagement with the main shaft; the gear set includes a driving gear fixedly sleeved on the main shaft, the driving gear is transmission-connected to a plurality of sequentially transmitted transmission gears, each of the transmission gears is rotatably mounted in the mounting cavity, and the rotation axis of each transmission gear extends in the same direction as the rotation axis of the driving gear, a magnet is provided on the same side end face of each transmission gear, the reduction ratio between the driving gear and the first-stage transmission gear is 1:1, and the reduction ratios between the remaining stages of the transmission gears increase sequentially; the circuit board is located on the same side of each of the magnets along the axis direction of the transmission gear, and a Hall sensor corresponding to each of the magnets is provided on the circuit board.

[0005] Preferably, the transmission gear is equipped with a pin shaft, one end of the pin shaft is coaxially rotated and inserted into the transmission gear, and the other end is installed on the inner wall of the installation cavity, and the magnet is arranged on the side of the transmission gear that is not connected to the pin shaft.

[0006] Preferably, the transmission gear includes a gear ring portion and a connecting portion that are distributed side by side and coaxially arranged along its axial direction, a mounting hole is opened in the connecting portion, a first bearing coaxial with it is embedded in the mounting hole, a connecting hole coaxially connected to the mounting hole is opened at the axis center of the gear ring portion, the pin shaft passes through the connecting hole and is embedded in the inner ring of the first bearing.

[0007] Preferably, an opening for the first bearing to pass through is provided on a side of the connecting portion away from the inner ring portion, and the opening is communicated with the mounting hole, and the magnet is sealed at the opening.

[0008] Preferably, the outer gear ring of the driving gear is meshed with the outer gear ring of the first-stage transmission gear.

[0009] Preferably, a transition auxiliary gear set is provided between the two adjacent levels of transmission gears, and the transition auxiliary gear set includes a first transition gear coaxially fixedly connected to the transmission gear of the previous level, the first transition gear is transmission-connected to the second transition gear, and the second transition gear is coaxially fixedly connected to the third transition gear meshing with the transmission gear of the next level; the first transition gear, the second transition gear and the third transition gear are all rotatably connected in the mounting cavity.

[0010] Preferably, the first transition gear and the second transition gear are spaced apart, and a fourth transition gear is meshedly connected between the first transition gear and the second transition gear, and the fourth transition gear is rotatably mounted in the mounting cavity.

[0011] Preferably, the transmission gears at each stage are centered on the axis of the driving gear and are evenly distributed around the outer periphery of the driving gear.

[0012] Preferably, the transmission gears of two adjacent stages are transmitted at a reduction ratio of 16:1.

[0013] Preferably, the encoder body includes a main structure and an outer shell, the main structure is provided with a through hole for the main shaft to pass through, and a second bearing coaxially embedded in the through hole is rotatably engaged with the main shaft, the side of the main structure opposite to the driving mechanism is connected to the outer shell, and the installation cavity is formed between the main structure and the outer shell.

[0014] Compared with the prior art, the utility model has achieved the following technical effects:

[0015] In the utility model, the end of the main shaft that does not extend into the installation cavity is connected to the driving mechanism to transmit the power of the driving mechanism to the main shaft. The driving gear is sleeved on the main shaft, and the reduction ratio with the first-stage transmission gear is 1:1, that is, the change value of the main shaft rotation angle is the same as the change value of the rotation angle of the first-stage transmission gear. The main shaft angle measurement can be converted into the angle measurement of the first-stage transmission gear. In this way, the main shaft can be in a variety of output shaft forms such as hollow shaft, tapered shaft and solid shaft, and magnets are provided on each stage of transmission gears. By arranging Hall sensors corresponding to the magnets on the circuit board, the changes in the angle values ​​of each transmission gear can be detected in real time, and the multi-turn position can be recorded. The multi-stage transmission can effectively improve the accuracy of multi-turn measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 This is a cross-sectional view of the overall structure of the utility model;

[0018] Figure 2 This is a front view of the gear set of the utility model;

[0019] Figure 3 This is a side view of the gear set of the utility model;

[0020] Figure 4 This is a schematic diagram of the back of the gear set of the utility model;

[0021] Figure 5 This is a schematic diagram of the connection between the transmission gear, pin shaft and magnet of the utility model;

[0022] Among them, 1-main structure, 2-main shaft, 3-second bearing, 4-spring, 5-pressure ring, 6-circuit board, 7-gear set, 8-housing, 9-magnet, 10-locking ring, 11-driving gear, 12-first transmission gear, 13-second transmission gear, 14-third transmission gear, 15-fourth transmission gear, 16-pin shaft, 17-fourth transition gear, 18-second transition gear, 19-first transition gear, 20-first bearing. DETAILED DESCRIPTION

[0023] 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.

[0024] The purpose of this utility model is to provide a multi-turn absolute value encoder to solve the problems existing in the above-mentioned prior art. It can record multi-turn positions and effectively improve the accuracy of multi-turn measurements. At the same time, it can meet various output forms of the spindle and expand the scope of use.

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0026] like Figures 1 to 5 As shown, this embodiment provides a multi-turn absolute encoder based on the principle of magnetoelectric encoder, which includes an encoder body, a main shaft 2, a circuit board 6 and a gear set 7; a mounting cavity for accommodating the gear set 7 is provided on the encoder body, the main shaft 2 rotates in conjunction with the encoder body, and the end thereof not connected to the drive mechanism extends into the mounting cavity, the gear set 7 is located in the mounting cavity, and is in transmission conjunction with the main shaft 2; the gear set 7 includes a driving gear 11 fixedly sleeved on the main shaft 2, the driving gear 11 is transmission-connected to a plurality of transmission gears that are sequentially transmitted, and each transmission gear is rotatably mounted in the mounting cavity. Since the driving gear 11 is sleeved on the main shaft 2, the main shaft 2 and the driving gear are in rotation with each other. The gears 11 are fixed together. When they rotate, the main shaft 2 transmits power to the transmission gears of each level through the driving gear 11, and the rotation axis of each transmission gear extends in the same direction as the rotation axis of the driving gear 11. Magnets 9 are provided on the same side end face of each transmission gear. The reduction ratio between the driving gear 11 and the first-stage transmission gear is 1:1, and the reduction ratios between the remaining transmission gears increase successively; the circuit board 6 is located on the same side of each magnet 9 along the axis direction of the transmission gear and is fixed in the mounting cavity, and a Hall sensor corresponding to each magnet 9 is provided on the circuit board 6, and the detected signal is provided to other devices that require encoder signals through the wiring harness.

[0027] The end of the main shaft 2 that does not extend into the installation cavity is connected to the driving mechanism to transmit the power of the driving mechanism to the main shaft 2. The driving gear 11 is sleeved on the main shaft 2, and the reduction ratio with the first-stage transmission gear is 1:1, that is, the change value of the rotation angle of the main shaft 2 is the same as the change value of the rotation angle of the first-stage transmission gear. The angle measurement of the main shaft 2 can be converted into the angle measurement of the first-stage transmission gear. In this way, the main shaft 2 can be in the form of a hollow shaft, a tapered shaft and a solid shaft, and each stage of the transmission gear is equipped with a magnet 9. By arranging a Hall sensor corresponding to the magnet 9 on the circuit board 6, the change in the angle value of each transmission gear can be detected in real time, and the position of multiple turns can be recorded. The multi-stage transmission can effectively improve the accuracy of multi-turn measurement.

[0028] In a specific embodiment, the transmission gear is equipped with a pin 16, one end of the pin 16 is coaxially inserted into the transmission gear, and the other end is mounted on the inner wall of the mounting cavity. The magnet 9 is arranged on the side of the transmission gear that is not connected to the pin 16 to achieve transmission connection of the transmission gears at all levels. As a preferred embodiment of the present invention, the transmission gear includes a gear ring portion and a connecting portion that are distributed side by side and coaxially arranged along its axial direction. A mounting hole is provided in the connecting portion, and a first bearing 20 coaxial therewith is embedded in the mounting hole. A connecting hole coaxially connected to the mounting hole is provided at the axis center of the gear ring portion. The pin 16 passes through the connecting hole and is embedded in the inner ring of the first bearing 20 to achieve rotational cooperation between the pin 16 and the transmission gear. Since the end of the pin 16 not connected to the first bearing 20 is mounted on the inner wall of the mounting cavity, the transmission gear is rotatably mounted in the mounting cavity. Further preferably, an opening for the first bearing 20 to pass through is provided on the side of the connecting portion away from the inner ring portion, and the opening is communicated with the mounting hole, and the magnet 9 is sealed at the opening. By setting the opening, the first bearing 20 can be installed in the mounting hole after passing through the opening, and by sealing the magnet 9 at the opening, on the one hand, the connection between the magnet 9 and the transmission gear can be achieved, and on the other hand, the opening can be closed to prevent the first bearing 20 from falling out of the mounting hole.

[0029] In a specific embodiment, the outer ring gear of the driving gear 11 is meshed with the outer ring gear of the first-stage transmission gear, the structures of the driving gear 11 and the first-stage transmission gear match, and the outer ring gear of the driving gear 11 and the outer ring gear of the first-stage transmission gear have the same structure, so as to achieve a reduction ratio of 1:1 between the driving gear 11 and the first-stage transmission gear.

[0030] In one embodiment, a transition auxiliary gear set 7 is provided between two adjacent transmission gears. The transition auxiliary gear set 7 includes a first transition gear 19 coaxially fixedly connected to the previous transmission gear, the first transition gear 19 being transmission-connected to a second transition gear 18, and the second transition gear 18 being coaxially fixedly connected to a third transition gear meshing with the next transmission gear. The first transition gear 19, the second transition gear 18, and the third transition gear are all rotationally connected within the mounting cavity. Preferably, each transition gear is equipped with a pin 16, one end of which is rotationally mounted on the axis of each transition gear, and the other end is fixed to the inner wall of the mounting cavity. The arrangement of each transition gear serves to assist the transmission, and can transmit the first-stage transmission gear to the final-stage transmission gear at corresponding reduction ratios, thereby forming a multi-stage reduction ratio transmission, which can realize the function of a multi-turn absolute encoder. Preferably, the transmission gear and the transition gear coaxially fixedly connected thereto are equipped with the same pin shaft 16, and the transition gear is rotatably sleeved on the portion of the pin shaft 16 that does not extend into the transmission gear, and the pin shaft 16 is provided with a locking ring 10 for locking the transition gear and the transmission gear for synchronous rotation. Similarly, the second transition gear 18 and the third transition gear are also equipped with the same pin shaft 16, and the third transition gear is locked to the second transition gear 18 by the locking ring 10 to maintain synchronous rotation.

[0031] Furthermore, the first transition gear 19 and the second transition gear 18 are spaced apart, and a fourth transition gear 17 is meshedly connected between the first transition gear 19 and the second transition gear 18. The fourth transition gear 17 is rotatably mounted within the mounting cavity to fully ensure the implementation of a multi-stage reduction ratio transmission. Preferably, the fourth transition gear 17 is equipped with a pin 16, one end of which is rotatably mounted on the axis of the fourth transition gear 17 and the other end is fixed to the inner wall of the mounting cavity.

[0032] In order to rationalize the layout and reduce the structure of the entire device, the transmission gears at all levels are centered on the axis of the driving gear 11 and are evenly distributed around the outer periphery of the driving gear 11. Each transition gear is connected between two adjacent transmission gears, realizing a structural layout in which each transmission gear and each transition gear surrounds the outer periphery of the driving gear 11, expanding the range of usage scenarios and reducing interference with other structures.

[0033] In a specific embodiment, the transmission is performed at a reduction ratio of 16:1 between two adjacent transmission gears, and since the ratio from the driving gear 11 to the first transmission gear is 1:1, the reduction ratio from the driving gear 11 to the second transmission gear is 16:1, the reduction ratio from the driving gear 11 to the third transmission gear is 256:1, the reduction ratio from the driving gear 11 to the fourth transmission gear is 4096:1, and so on. Preferably, a four-stage transmission gear is provided in the mounting cavity, and is sequentially divided into a first transmission gear 12, a second transmission gear 13, a third transmission gear 14 and a fourth transmission gear 15, thereby enabling the measurement of multiple turns to reach 2 12 lock up.

[0034] In a specific embodiment, the encoder body includes a main structure 1 and a shell 8. A through hole is opened on the main structure 1 for the main shaft 2 to pass through, and a second bearing 3 that rotates with the main shaft 2 is coaxially embedded in the through hole. The side of the main structure 1 opposite to the driving mechanism is connected to the shell 8, and an installation cavity is formed between the shell 8. By setting the shell 8, not only can disassembly and assembly be facilitated to facilitate maintenance of various components in the installation cavity, but also pollution such as dust can be avoided, which may cause failure of various mechanisms in the entire installation cavity. Preferably, except for the driving gear 11, the pins 16 matching each transmission gear and each transition gear are fixed on the shell 8.

[0035] Furthermore, the portion of the main shaft 2 that is not inserted into the mounting cavity has an annular flange on its outer peripheral wall that abuts against the outer end face of the through hole, and the portion of the main shaft 2 that is inserted into the mounting cavity is sleeved with a pressure ring 5, which abuts against the inner end face of the through hole, so that the main shaft 2 is locked in the through hole through the annular flange and the pressure ring 5, and a spring piece 4 is connected to the annular flange; the circuit board 6 is located between the gear set 7 and the through hole, and a through hole is provided on the circuit board 6 for the main shaft 2 to pass through.

[0036] Adaptive changes based on actual needs are all within the protection scope of this utility model.

[0037] It should be noted that it is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, from all perspectives, the embodiments should be regarded as illustrative and non-restrictive. The scope of the present invention is defined by the appended claims, not the foregoing description, and it is intended that all variations within the meaning and range of equivalents of the claims be encompassed within the present invention. Any reference signs in the claims should not be construed as limiting the claim to which they relate.

[0038] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A multi-turn absolute encoder, characterized in that: Includes encoder body, spindle, circuit board and gear set; The encoder body is provided with a mounting cavity for accommodating the gear set. The main shaft is rotatably engaged with the encoder body, and the end thereof not connected to the drive mechanism extends into the mounting cavity. The gear set is located in the mounting cavity and is in transmission engagement with the main shaft. The gear set includes a driving gear fixedly sleeved on the main shaft, the driving gear is connected to a plurality of transmission gears that are sequentially transmitted, each of the transmission gears is rotatably mounted in the mounting cavity, and the rotation axis of each transmission gear extends in the same direction as the rotation axis of the driving gear, and a magnet is provided on the same side end surface of each transmission gear, the reduction ratio between the driving gear and the first-stage transmission gear is 1:1, and the reduction ratios between the remaining stages of the transmission gears increase sequentially; The circuit board is located on the same side of each of the magnets along the axis direction of the transmission gear, and a Hall sensor corresponding to each of the magnets is provided on the circuit board.

2. The multi-turn absolute encoder according to claim 1, characterized in that: The transmission gear is equipped with a pin shaft, one end of the pin shaft is coaxially inserted into the transmission gear, and the other end is installed on the inner wall of the installation cavity. The magnet is arranged on the side of the transmission gear that is not connected to the pin shaft.

3. The multi-turn absolute encoder according to claim 2, characterized in that: The transmission gear includes a gear ring portion and a connecting portion that are distributed side by side and coaxially arranged along its axial direction. A mounting hole is provided in the connecting portion, and a first bearing coaxial with the mounting hole is embedded in the mounting hole. A connecting hole coaxially connected to the mounting hole is provided at the axis center of the gear ring portion. The pin shaft passes through the connecting hole and is embedded in the inner ring of the first bearing.

4. The multi-turn absolute encoder according to claim 3, characterized in that: An opening for the first bearing to pass through is formed on a side of the connecting portion away from the gear ring portion, and the opening is communicated with the mounting hole, and the magnet is sealed at the opening.

5. The multi-turn absolute encoder according to any one of claims 2 to 4, characterized in that: The outer gear ring of the driving gear is meshed with the outer gear ring of the first-stage transmission gear.

6. The multi-turn absolute encoder according to claim 5, characterized in that: A transition auxiliary gear set is provided between the two adjacent levels of transmission gears, and the transition auxiliary gear set includes a first transition gear coaxially fixedly connected to the transmission gear of the previous level, the first transition gear is transmission-connected to the second transition gear, and the second transition gear is coaxially fixedly connected to the third transition gear meshing with the transmission gear of the next level; the first transition gear, the second transition gear and the third transition gear are all rotatably connected in the mounting cavity.

7. The multi-turn absolute encoder according to claim 6, characterized in that: The first transition gear and the second transition gear are spaced apart from each other, and a fourth transition gear is meshedly connected between the first transition gear and the second transition gear. The fourth transition gear is rotatably mounted in the mounting cavity.

8. The multi-turn absolute encoder according to claim 7, characterized in that: The transmission gears at each level are centered on the axis of the driving gear and are evenly distributed around the outer periphery of the driving gear.

9. The multi-turn absolute encoder according to claim 8, characterized in that: The transmission gears of two adjacent stages transmit power at a reduction ratio of 16:

1.

10. The multi-turn absolute encoder according to claim 9, characterized in that: The encoder body includes a main structure and a shell. The main structure is provided with a through hole for the main shaft to pass through, and a second bearing coaxially embedded in the through hole to rotate with the main shaft is coaxially embedded in the through hole. The side of the main structure opposite to the driving mechanism is connected to the shell, and the installation cavity is formed between the main structure and the shell.

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