Inductance type encoder for combined robot joint

Abstract

The utility model relates to the field of encoders, in particular to an inductive encoder for a combined robot joint, which comprises an encoder processing plate, a chip is fixedly mounted on the encoder processing plate, a through hole is formed in the center of the encoder processing plate in a penetrating manner, and the encoder processing plate is made of multiple layers of printed plates. Middle layers of the multi-layer printed board are separated by ground layers, and a chip is arranged on the surface of the encoder processing board far away from the through hole. According to the inductance type encoder for the combined robot joint, the encoder processing plate is arranged, the encoder processing plate is made of multiple layers of printed plates, the middle layer of the multiple layers of printed plates is separated by a ground layer and can be divided into an upper area and a lower area, two sides of the encoder processing plate can be conveniently combined into two encoders, and when a chip is arranged on the encoder processing plate, the encoder processing plate is convenient to assemble and disassemble. The sensor is only arranged far away from the through hole on the layout, no device is arranged close to the through hole, and the sensor is kept flat so as to be convenient for sensor combination.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of encoder especially for a combined robot joint inductive encoder. BACKGROUND

[0002] Encoder is a kind of sensor equipment, is used to encode signal (such as bit stream) or data, converts into the signal form that can be used to communication, transmission and storage, encoder is widely used in the speed, position, angle, distance or counting of measuring mechanical movement, encoder is widely used in position and angle measurement and numerical control machine tool, especially in the field of robot, automobile, CNC machine tool, aerospace and medical equipment, current robot is more and more close to intelligentization, dexterity, therefore requires robot active joint structure compact, torque, simple circuit, large information amount.Therefore need, the thickness of encoder is thin, and the hole is enough big, is used to wear cable and mechanical shaft.

[0003] Encoder has the problem of not being applicable to a variety of different robot design schemes when in use, in view of this, a combined robot joint inductive encoder is provided. SUMMARY

[0004] The main purpose of the utility model is to provide a combined robot joint inductive encoder to solve the problem of encoder not being applicable to a variety of different robot design schemes when in use in the related art.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the utility model, a combined robot joint inductive encoder is provided, which comprises an encoder processing plate, a chip is fixedly installed on the encoder processing plate, a through hole is formed in the center of the encoder processing plate, the encoder processing plate is made of a multilayer printed board, the middle layer of the multilayer printed board is separated by a ground layer, a chip is arranged on the surface of the encoder processing plate away from the through hole, the surface of the encoder processing plate close to the through hole is flat and does not have any device, and the encoder processing plate further comprises: a stator, two stators are fixedly installed on the two sides of the encoder processing plate, a rotor is fixedly installed on the other side of each stator, and the directions of each rotor are the same.

[0006] Further, the multilayer printed board is isolated into two regions by the ground layer, so that the two sides of the encoder processing plate are combined into two encoders, and the bottom surface of the encoder processing plate is an installation end.

[0007] Further, two connectors are fixedly installed on one side of the surface of the encoder processing plate, and each connector contains a plurality of transceiving serial ports.

[0008] Further, when the encoder processing plate is used in combination with the stator and the rotor on one side, it is used as a single encoder, and when the encoder processing plate is used with the stators and the rotors on both sides, it is used as a double encoder.

[0009] Further, the encoder processing version is symmetrically fixedly installed with an encoder processor, and a single encoder processor decodes the upper side encoder data and outputs through a single connector.

[0010] Further, high-speed communication connection is adopted between the two encoder processing, and the encoder selects any one connector as the output.

[0011] Compared with the prior art, the utility model has the following beneficial effects:

[0012] 1. The inductance encoder for combined robot joint is provided with an encoder processing version, the encoder processing version is made of a multilayer printed version, the middle layer of the multilayer printed version is separated by a ground layer and can be isolated into two areas, the two sides of the encoder processing version are combined into two encoders, and when the chips of the encoder processing version are laid out, they are only laid out away from the through hole, there is no device near the through hole, and the surface is kept flat to facilitate sensor combination.

[0013] 2. The inductance encoder for combined robot joint is provided with two connectors and two encoder processors, each connector contains several transceiving serial ports, each encoder processor can select different connectors to output, so as to output as two separate encoders respectively. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is the overall structure flow chart of the encoder in the preferred embodiment of the utility model;

[0015] Figure 2 It is the split structure schematic view of the encoder in the preferred embodiment of the utility model;

[0016] Figure 3 It is the structure schematic view of the encoder processing version in the preferred embodiment of the utility model;

[0017] Figure 4 It is the structure schematic view of the multilayer printed version in the preferred embodiment of the utility model;

[0018] Figure 5 It is the mixed cascade schematic view in the preferred embodiment of the utility model;

[0019] Figure 6 It is the parallel cascade schematic view in the preferred embodiment of the utility model;

[0020] Figure 7 It is the serial cascade schematic view in the preferred embodiment of the utility model.

[0021] ILLUSTRATION:

[0022] 1, encoder processing board; 11, encoder processor; 12, connector; 13, through hole; 14, multi-layer printed board; 141, ground layer; 142, chip;

[0023] 2, stator;

[0024] 3, rotor. DETAILED DESCRIPTION

[0025] In order to further illustrate the technical means and effects adopted by the utility model to achieve the predetermined utility model purposes, the specific embodiments, structures, features and effects according to the utility model will be described in detail as follows in combination with the drawings and preferred embodiments.

[0026] Please refer to Figures 1-7 The embodiment aims to provide a combined robot joint inductance encoder, which comprises an encoder processing board 1, a chip 142 is fixedly installed on the encoder processing board 1, a through hole 13 is formed through the center of the encoder processing board 1, the encoder processing board 1 is made of a multi-layer printed board 14, the middle layer of the multi-layer printed board 14 is separated by a ground layer 141, the chip 142 is arranged on the surface of the encoder processing board 1 away from the through hole 13, the surface of the encoder processing board 1 close to the through hole 13 is flat and does not have any device, further comprising a stator 2, two stators 2 are fixedly installed on the two sides of the encoder processing board 1, a rotor 3 is fixedly installed on the other side of each stator 2, the directions of each rotor 3 are the same, and the stator 2 and the encoder processing board 1 are connected by welding.

[0027] The multi-layer printed board 14 is isolated into two upper and lower areas by the ground layer 141, so that the two sides of the encoder processing board 1 are combined into two encoders, and the bottom surface of the encoder processing board 1 is an installation end for installing the encoder processing board 1 on a robot.

[0028] The encoder processing board 1 is fixedly installed with two connectors 12 on one side of the surface, each connector 12 comprises a plurality of transceiving serial ports, when used as a single encoder, the connector 12 can be compatible with commonly used digital interfaces such as RS485\422, SSI, bissc and ABZ, when combined into a multi-stage cascaded encoder, a single connector 12 can complete one receiving and one transmitting cascade and output all data as a central processor, which ensures that each encoder processor 11 can be used as an encoder decoder and an encoder data processing hub synchronously.

[0029] The encoder processing version 1 is used as a single encoder when combined with a stator 2 and a rotor 3 on one side, is used for a plurality of encoders in a robot joint, and is used in different positions with a long distance between two encoders, and the encoder processing version 1 is used as a double encoder when combined with a stator 2 and a rotor 3 on two sides, is more compact in structure, is suitable for a plurality of encoders in a robot joint, and is used in a case that the encoders are close to each other, so that the joint is more compact.

[0030] The encoder processing version 1 is used as a single encoder when combined with a stator 2 and a rotor 3 on one side, is used for a plurality of encoders in a robot joint, and is used in different positions with a long distance between two encoders, and the encoder processing version 1 is used as a double encoder when combined with a stator 2 and a rotor 3 on two sides, is more compact in structure, is suitable for a plurality of encoders in a robot joint, and is used in a case that the encoders are close to each other, so that the joint is more compact.

[0031] The two encoder processors 11 are connected through high-speed communication, and the high-speed communication is specifically a serial communication protocol, a parallel communication protocol, optical fiber communication or a high-speed network interface; and any one connector 12 is selected as an output for the encoder, and when a plurality of encoders are used in a robot, the plurality of encoders are connected in series, one of the encoder processors 11 is used as a single-encoder decoder, and the other encoder processor 11 is used as a data processing center to output data, so as to reduce the line connection and facilitate the collection of all the encoding information into the brain of the robot to determine the activity state of each part of the robot.

[0032] In specific use, the stratum 141 separates the multi-layer printing plate 14, so that the two sides of the encoder processing version 1 are combined into two encoders, the encoders can be combined into a single encoder or a double encoder, when combined into a single encoder, the encoder processing version 1 is combined with one of the stators 2 and the rotors 3, is suitable for a plurality of encoders in a robot joint, and is used in different positions with a long distance between two encoders, when combined into a double encoder, the stators 2 and the rotors 3 on two sides are reserved at the same time, the structure is more compact, is suitable for a plurality of encoders in a robot joint, and is used in a case that the encoders are close to each other, so that the joint is more compact, and when a plurality of encoders are used in a robot, the plurality of encoders are connected in series.

[0033] The above is only a preferred embodiment of the utility model, and does not limit the utility model in any form, although the utility model has been disclosed as above with a preferred embodiment, however, is not used to limit the utility model, any person skilled in the art, without departing from the technical scheme range of the utility model, can make some changes or modifications for equivalent embodiments with the disclosed technical content, but as long as it does not depart from the technical scheme content of the utility model, according to the technical essence of the utility model, any modification, equivalent change and modification of the above embodiment, still belongs to the range of the technical scheme of the utility model.

Claims

1. A combined inductive encoder for a robot joint, comprising an encoder processing board (1), characterized in that, The encoder processing plate (1) is fixedly provided with a chip (142), a through hole (13) is formed in the center of the encoder processing plate (1), the encoder processing plate (1) is made of a multi-layer printed plate (14), the middle layer of the multi-layer printed plate (14) is separated by a ground layer (141), the chip (142) is arranged on the surface of the encoder processing plate (1) away from the through hole (13), the surface of the encoder processing plate (1) close to the through hole (13) is flat and does not have any device, and the encoder processing plate (1) further comprises: The stator (2) is fixedly arranged on both sides of the encoder processing plate (1), and the rotor (3) is fixedly arranged on the other side of each stator (2), and the directions of the rotors (3) are the same.

2. A combined inductive encoder for a robot joint according to claim 1, characterized in that The multi-layer printed plate (14) is separated into two areas by the ground layer (141), so that the two sides of the encoder processing plate (1) are combined into two encoders, and the bottom surface of the encoder processing plate (1) is an installation end.

3. A combination inductive encoder for a robot joint as claimed in claim 1, characterized in that The encoder processing plate (1) is fixedly provided with two connectors (12) on one side of the surface, and each connector (12) comprises a plurality of transceiving serial ports.

4. A combination inductive encoder for a robot joint as defined in claim 1, wherein When the encoder processing plate (1) is used in combination with the stator (2) and the rotor (3) on one side, the encoder processing plate (1) is used as a single encoder, and when the encoder processing plate (1) is used in combination with the stators (2) and the rotors (3) on both sides, the encoder processing plate (1) is used as a double encoder.

5. A combination inductive encoder for a robot joint as claimed in claim 1, characterized in that, The encoder processing plate (1) is fixedly provided with an encoder processor (11) on both sides of the surface, and each single encoder processor (11) decodes the data of the upper encoder and outputs the data through a single connector (12).

6. A combined inductive encoder for a robot joint according to claim 5, characterized in that The two encoder processors (11) are connected through high-speed communication, and the encoder selects any one connector (12) as the output.

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