Miniature convex embedded rotary encoder

Abstract

The utility model relates to a miniature convex embedded rotary encoder in the technical field of encoders, which comprises an encoder shaft, a convex encoder seat and a magnetic sensitive angle sensor chip, the encoder shaft is of a long-strip-shaped step structure, one end of the encoder shaft, which is of the step structure, is obliquely arranged, and a magnet is arranged in the convex encoder seat; the encoder seat in the structure adopts a two-section convex structure design, so that the size of the encoder is effectively reduced, and the embedded installation is realized; a traditional double-bearing design is omitted, the length of the encoder is smaller, and in addition, a special magnet with small surface magnetism is adopted. The encoder solves the problem of mutual magnetic interference through a magnetic shielding technology and a magnet which is low in surface magnetism and conforms to the magnetic field of the magnetic sensitive chip; according to the embedded assembly structure design, the magnetic isolation principle is adopted, and the encoder is made into an integral part and embedded into equipment, so that high-precision angle sensing is realized, and more space is saved.

Description

TECHNICAL FIELD

[0001] The utility model relates to encoder technical field especially is a kind of micro convex embedded rotary encoder. BACKGROUND

[0002] Magnetoelectric encoder is a kind of sensor using magnetic material and magnetic induction principle to measure rotation angle and position. It is usually composed of magnetic material, magnetic sensor and signal processing circuit, can output digital or analog signal, is used for accurately measuring rotation angle and position, and its main components include magnetic material, magnetic sensor: element for detecting magnetic field change, common magnetic sensor has Hall effect sensor, magnetoresistance sensor (MR), giant magnetoresistance sensor (GMR), signal processing circuit, encoding disc, shell and mounting structure.

[0003] Now, with the development of exoskeleton or humanoid robot, the demand for multi-degree-of-freedom angle sensing data acquisition and miniaturization of encoder is increasing. Limited to the fixed mode of traditional encoder support, it is necessary to use discrete encoder components (magnet + angle sensor) to realize angle acquisition, but the discrete encoder causes angle deviation due to assembly and magnetic interference technology, and the assembly quality cannot be controlled.

[0004] On the other hand, when the traditional encoder is tilted, the tilt plane is usually set to coincide with the vertical center line. When the operator inserts the shaft, the reverse force is formed between the shaft and the insertion due to improper force or slight angle deviation, thereby forming force resistance. When using, it also needs to be inserted with its direction, and the efficiency of operators with different proficiency is different, which increases the process and reduces the work efficiency. Therefore, the present inventor proposes a micro convex embedded rotary encoder to solve the above technical problems. UTILITY MODEL CONTENTS

[0005] The utility model is aimed at providing a technical solution to solve the above problems.

[0006] A micro convex embedded rotary encoder, comprising an encoder shaft, a convex encoder seat and a magnetic angle sensor chip, the encoder shaft is in a long strip ladder structure, one end of the encoder shaft extends to the inside of the convex encoder seat, one end of the encoder shaft ladder structure extends beyond the surface of the convex encoder seat, the magnetic angle sensor chip is located in the inside of the convex encoder seat, the inside of the convex encoder seat is provided with a bearing groove for placing a single bearing, the bearing groove is in a concave structure, the inside of the convex encoder seat is provided with a magnetic encoding plate, one end of the magnetic encoding plate is connected with the surface of the magnetic angle sensor chip.

[0007] The one end of the encoder shaft is arranged in an inclined manner, the angle between the inclined end and the vertical center line of the encoder shaft is 4°, and the angle between the inclined end and the horizontal center line of the encoder shaft is 86°. The inclined end of the encoder shaft is provided with an inverted inclined angle, and the inverted inclined angle is spaced apart from the center point of the encoder shaft. A magnet is mounted in the interior of the convex encoder seat. The magnet is a magnet made of ferrite by magnetization.

[0008] The encoder comprises a convex encoder seat. A smaller upper part of the convex encoder seat is used for fixing a bearing, and a larger lower part of the convex encoder seat is used for fixing a magnetic encoding plate and a compatible package. A bearing is fixed in a hole of the smaller upper part of the convex encoder seat. A rotating shaft is connected to an inner ring of the bearing. A magnet is arranged at a tail of the rotating shaft. The magnet is a weak surface magnet made of ferrite by magnetization. The magnet is used for achieving a smaller distance between the magnet and a chip. Meanwhile, the magnet is used for solving the mutual magnetic interference problem of multiple such encoders in a narrow space. The principle is that the low impedance and high magnetic permeability characteristics of ferromagnetic materials can be used for magnetic flux diversion of external magnetic fields. The magnetic field around the sensitive device is concentrated in the shielding material, so that the magnetic field in the shielding body is greatly weakened, and the sensitive device is magnetically shielded.

[0009] In order to achieve an extremely small size, reduce the gap between the magnet and the magnetic sensitive angle sensor, and reduce the interference of the magnet on other magnetic working devices in a narrow space, the magnet is a magnet with a small surface magnetism, rather than a neodymium iron boron magnet which is a mainstream magnet for magnetic encoders on the market. The encoder cancels the double-bearing structure of the traditional encoder under the condition that the performance, rotation and precision performance of the encoder are verified, and adopts a single bearing.

[0010] The encoder adopts a convex structure. A smaller upper part of the convex structure can be used for fixing a bearing. The design can make the bearing be selected to have a smaller size. A larger lower part of the convex structure can be used for fixing a magnetic encoding plate. The size of the magnetic encoding plate is slightly larger, so that more components and more packaged chips can be compatible. A single encoder shaft is fixed to the convex encoder seat in a manner of adhesive or interference fit.

[0011] The inclined arrangement can reduce the friction between the encoder shaft and the encoder seat, improve the smoothness and precision of rotation, and optimize the force transmission path by the inclined angle, reduce the problem of excessive local stress, and improve the service life of the encoder shaft. When the traditional encoder is arranged in an inclined manner, the inclined plane is usually arranged to coincide with the vertical center line. When the shaft rod is inserted by the operator, if the applied force is improper, the reverse force will be formed between the shaft rod and the insertion part, thereby forming a force obstacle. By the inclined angle, the eccentric force formed by the inclined arrangement facilitates the transmission of the force, reduces the reverse force when the shaft rod is inserted in a forward direction, and thereby optimizes the effect of the force.

[0012] In addition, the inclined arrangement can increase the stability of the encoder shaft, reduce the deviation caused by vibration or impact, reduce wear by reducing the direct contact area, prolong the service life of the encoder shaft, and reduce damage to the encoder shaft; on the other hand, the inverted angle can provide a guiding effect, facilitate the installation and removal of the encoder shaft, improve the convenience of operation and improve the smoothness of rotation;

[0013] The magnet is a weak surface magnet, which can reduce electromagnetic interference to surrounding electronic equipment, improve the anti-interference ability of the system, improve the stability of the encoder output signal by reducing interference, and ensure the accuracy of measurement. The magnetic field of the weak surface magnet is relatively weak, which can reduce the adsorption of surrounding magnetic substances and avoid equipment failure caused by adsorption of foreign matter.

[0014] Further, the inverted angle and the center point of the encoder shaft are 1.8mm, 4.18mm, 6.06mm and 8.91mm respectively; different distance settings can ensure that the force on the encoder shaft is more evenly distributed, reduce the problem of excessive local stress, improve the service life of the encoder shaft, and through multiple distance settings, the stress can be dispersed, the stress concentration points can be reduced, the fatigue resistance of the encoder shaft can be improved, and different distance settings can reduce the direct contact area between the encoder shaft and the convex encoder seat, reduce wear and prolong the service life of the encoder shaft;

[0015] On the other hand, through different distance settings, the distribution of friction force can be optimized, friction loss can be reduced, the smoothness of rotation can be improved, and multiple levels of guiding effect can be provided to facilitate the installation and removal of the encoder shaft, improve the convenience of operation, reduce installation errors, ensure the correct installation position of the encoder shaft, and improve the installation precision.

[0016] Further, the surface of the encoder shaft is provided with a circlip for preventing the bearing from falling off, and the circlip surrounds the surface of the encoder shaft; the circlip can firmly fix the bearing to prevent it from falling off during operation due to vibration or impact, ensuring the stability and reliability of the bearing. By preventing the bearing from falling off, safety accidents caused by bearing falling off can be reduced, and the safety of operation can be improved. In addition, the circlip can reduce the slight displacement between the bearing and the encoder shaft, reduce further vibration, improve the stability of the encoder shaft, and on the other hand, the circlip can ensure the concentricity of the bearing and the encoder shaft, reduce eccentricity and shaking, and improve the stability of rotation.

[0017] Further, one end of the encoder shaft extending into the interior of the convex encoder seat is provided with a shaft rear boss, one end of the shaft rear boss is higher than the lowest point of the bearing groove surface, and the shaft rear boss is used to elevate the bearing inside the bearing groove, so that the rotating shaft or the bearing does not interfere with the convex encoder seat.

[0018] The rear boss of the shaft raises the bearing, so that it does not contact the inner wall of the convex encoder seat, reduces friction, improves the smoothness of rotation, prevents interference, reduces vibration and instability caused by contact, improves the stability of the encoder shaft, in addition, the design of the shaft rear boss can ensure the correct position of the bearing in the bearing groove, reduce the deviation during rotation, improve the measurement accuracy of the encoder, by raising the bearing, the rotation path of the encoder shaft can be optimized, the deviation during rotation can be reduced, and the measurement accuracy can be improved.

[0019] Further, the bottom of the convex encoder seat is provided with a rear cover for protecting and insulating the magnetic encoding plate; the rear cover can protect the magnetic encoding plate from external physical damage such as impact, scratching, etc., reduce damage by protection, prolong the service life of the magnetic encoding plate, on the other hand, the rear cover can prevent dust, moisture and other pollutants from entering, keep the magnetic encoding plate clean, ensure its normal work, also can prevent external objects from contacting the magnetic encoding plate, reduce safety accidents caused by short circuit or electric shock, improve the safety of operation, provide an insulating layer to prevent the magnetic encoding plate from contacting the convex encoder seat or other conductive parts, avoid short circuit phenomenon, the insulating design can reduce electromagnetic interference, improve the signal stability and reliability of the magnetic encoding plate, ensure the accurate measurement of the encoder, and the design of the rear cover makes the installation of the magnetic encoding plate more convenient and fast, reduces the installation time, improves the convenience of operation, facilitates the inspection and replacement of the magnetic encoding plate, improves the convenience of maintenance, the rear cover is provided at the rear of the magnetic encoding plate, the material of the convex encoder seat and the rear cover can be metal, including magnetic and non-magnetic metal, or plastic.

[0020] Further, the bottom of the convex encoder seat is provided with a rear cover for protecting and insulating the magnetic encoding plate; the rear cover can protect the magnetic encoding plate from external physical damage such as impact, scratching, etc., reduce damage by protection, prolong the service life of the magnetic encoding plate, on the other hand, the rear cover can prevent dust, moisture and other pollutants from entering, keep the magnetic encoding plate clean, ensure its normal work, also can prevent external objects from contacting the magnetic encoding plate, reduce safety accidents caused by short circuit or electric shock, improve the safety of operation, provide an insulating layer to prevent the magnetic encoding plate from contacting the convex encoder seat or other conductive parts, avoid short circuit phenomenon, the insulating design can reduce electromagnetic interference, improve the signal stability and reliability of the magnetic encoding plate, ensure the accurate measurement of the encoder, and the design of the rear cover makes the installation of the magnetic encoding plate more convenient and fast, reduces the installation time, improves the convenience of operation, facilitates the inspection and replacement of the magnetic encoding plate, improves the convenience of maintenance, the rear cover is provided at the rear of the magnetic encoding plate, the material of the convex encoder seat and the rear cover can be metal, including magnetic and non-magnetic metal, or plastic.

[0021] Further, the convex encoder seat has a convex part with a bearing hole for fixing the micro encoder, and the outer cylinder of the bearing hole is provided with at least one plane, the number of the planes is four, the planes are uniformly distributed around the center point of the convex encoder seat, the distance and angle between the adjacent two planes are equal; the four uniformly distributed planes can provide accurate positioning reference, ensure accurate positioning of the encoder seat during installation, reduce installation error, the uniformly distributed planes can be easily aligned with other components, ensure accurate relative position between components, reduce vibration caused by asymmetry, improve stability of the encoder seat, reduce the problem of excessive local stress, and improve stability of the overall structure;

[0022] On the other hand, the planes can provide more contact surfaces, enhance the connection reliability with other components, reduce the risk of loosening and falling off, and also reduce stress concentration points and improve the fatigue resistance of the encoder seat. The use of four planes can ensure uniform distribution of force on the encoder seat, optimize the force transmission path, reduce the problem of excessive local stress, reduce stress concentration points, improve the fatigue resistance of the encoder seat, and the flange surface of the encoder cancels the screw hole connection mode, and a plane is uniformly distributed on the small convex diameter part for fixing. The flat position of the plane can reduce the volume of the encoder, and the plane can be used for locking screw fixing; installing into the profiled hole can also avoid rotation like a cylinder.

[0023] Further, the magnet is a ferrite planar two-pole magnet; compared with rare earth magnets such as neodymium iron boron, ferrite magnets have lower cost, are suitable for large-scale production and wide application, and can significantly reduce the overall system cost without affecting performance. In addition, ferrite magnets have good temperature stability in a wide temperature range, and the magnetic performance changes little even in high-temperature or low-temperature environments, improving the overall operation stability. Ferrite magnets also have high coercive force and are not easily demagnetized by external magnetic fields, ensuring stable magnetic performance in complex electromagnetic environments. On the other hand, in environments with strong magnetic field interference, ferrite magnets can maintain their magnetic properties, reduce the influence of external magnetic fields, have certain anti-interference performance, and have good corrosion resistance without the need for additional protective coating, making them suitable for various working environments.

[0024] The use of planar two-pole magnetization is conducive to accurate detection by the magnetic sensor, improving the measurement accuracy of the encoder. The planar two-pole magnetization design can also simplify the magnetic circuit structure, reduce the complexity of the magnetic circuit, and improve the reliability and stability of the system. The planar two-pole magnet can also be easily installed on the rotor or stator of the encoder, simplifying the installation process and improving production efficiency.

[0025] Further, the encoder shaft is connected with the convex encoder seat to present a three-section stepped structure, the convex part of the encoder shaft is the first step, the middle part of the convex encoder seat is the second step, and the bottom of the convex encoder seat is the third step, the diameter of the third step is larger than that of the second step, and the second step can be provided with a single bearing;

[0026] The three-section stepped structure provides multiple support points, ensures the stable connection between the encoder shaft and the convex encoder seat, improves the uniform distribution of force in the multi-stage structure, reduces deformation and wear caused by excessive local stress, and reduces the vibration of the encoder shaft, thereby improving the measurement accuracy of the encoder.

[0027] In addition, the stepped structure can simplify the installation process, ensure the quick installation and disassembly of the encoder shaft and the convex encoder seat, facilitate disassembly, inspection, maintenance and replacement of parts, and on the other hand, the multi-stage stepped structure can reduce loosening caused by vibration or external force, improve the safety of operation, reduce faults caused by structural problems by improving structural stability and reducing vibration, and improve the reliability of the overall structure.

[0028] Compared with the prior art, the utility model has the advantages that:

[0029] 1. The encoder seat in the structure adopts a two-section "convex" structure design, the upper part of the "convex" structure is used for installing bearings, and the lower part is used for installing magnetic encoding plates, so that the size of the encoder can be effectively reduced, and the encoder can be installed in an embedded mode.

[0030] 2. After verifying the performance of the rotary encoder, the traditional double-bearing design is cancelled, so that the length of the encoder can be made smaller.

[0031] 3. The fixing mode of the flange screw hole is cancelled, the upper part of the convex seat is provided with four planes uniformly distributed at 360 degrees, and the screw is locked on the plane to clamp and fix, or the insertion into the profiled hole will not rotate like a cylinder.

[0032] 4. In order to realize extremely small size, the encoder needs to solve the problem that the distance between the magnet and the magnetic sensitive angle sensor is smaller than the existing magnetic encoding, so a weak surface magnet with small surface magnetism is adopted.

[0033] 5. The exoskeleton and robots are often used in narrow spaces and need to deploy multiple encoders, and the encoder solves the mutual magnetic interference problem through magnetic shielding technology (see the magnetic shielding schematic diagram of the magnet of the encoder) and a magnet with low surface magnetism but meeting the magnetic field of the magnetic sensitive chip.

[0034] 6、The design adopts embedded assembly structure design, adopts magnetic isolation principle, makes the encoder into a whole component, is embedded into the equipment, saves more space while realizing high-precision angle sensing, and can be installed close to resist mutual interference. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 It is a perspective view of a micro convex embedded rotary encoder.

[0036] Figure 2 It is another perspective view of a micro convex embedded rotary encoder.

[0037] Figure 3 It is a rear view of a micro convex embedded rotary encoder.

[0038] Figure 4 It is a top view of a micro convex embedded rotary encoder.

[0039] Figure 5 It is another top view of a micro convex embedded rotary encoder.

[0040] Figure 6 It is a bottom view of a micro convex embedded rotary encoder.

[0041] Figure 7 It is a position structure diagram of an inverted bevel in a micro convex embedded rotary encoder.

[0042] Figure 8 It is another position structure diagram of an inverted bevel in a micro convex embedded rotary encoder.

[0043] Figure 9 It is an internal structure schematic diagram of a micro convex embedded rotary encoder.

[0044] Figure 10 It is a schematic diagram of a magnet magnetic shield of a micro convex embedded rotary encoder.

[0045] In the figure: encoder shaft-1, snap spring-2, convex encoder seat-3, bearing groove-4, shaft rear boss-5, magnet-6, magnetic angle sensor chip-7, magnetic encoding plate-8, rear cover-9, connecting groove-10, inverted bevel-11. DETAILED DESCRIPTION

[0046] The utility model will be further described in detail in combination with the drawings and specific embodiments.

[0047] In this embodiment, please refer to Figures 1-10A micro convex embedded rotary encoder, which is a specific implementation of the present application, comprises an encoder shaft 1, a convex encoder base 3 and a magnetic angle sensor chip 7. The encoder shaft 1 is in a long strip ladder structure. One end of the encoder shaft 1 extends to the inside of the convex encoder base 3. One end of the ladder structure of the encoder shaft 1 extends beyond the surface of the convex encoder base 3. The magnetic angle sensor chip 7 is located in the inside of the convex encoder base 3. A bearing groove 4 for placing a single bearing is provided in the inside of the convex encoder base 3. The bearing groove is in a concave structure. A magnetic encoding plate 8 is installed in the inside of the convex encoder base 3. One end of the magnetic encoding plate 8 is connected to the surface of the magnetic angle sensor chip 7.

[0048] One end of the encoder shaft 1 in the ladder structure is arranged in an inclined manner. The angle between the inclined angle and the vertical center line of the encoder shaft 1 is 4°. The angle between the inclined angle and the horizontal center line of the encoder shaft 1 is 86°. The end of the encoder shaft 1 arranged in an inclined manner is provided with an inverted bevel 11, as shown in FIG. 1. In addition, the structure can also be arranged such that the inverted bevel 11 is flexibly arranged, so that the inverted bevel 11 rotates together with the rotation of the encoder shaft 1, thereby adapting to the direction of force. The inverted bevel 11 is spaced apart from the center point of the encoder shaft 1. A magnet 6 is installed in the inside of the convex encoder base 3. The magnet is a magnet made of ferrite by magnetization. Figure 6

[0049] The encoder comprises a convex encoder base 3. The upper part of the convex encoder base 3 with a smaller diameter is used to fix a bearing. The lower part of the convex encoder base 3 with a larger diameter is used to fix a magnetic encoding plate 8 with a compatible package. A bearing is fixed in the hole of the upper part of the convex encoder base 3 with a smaller diameter. A rotating shaft is connected to the inner ring of the bearing. The tail part of the rotating shaft is provided with a magnet 6. The magnet is a magnet with weak surface magnetism, which meets the working magnetic field of the magnetic sensitive chip, so as to achieve a smaller distance between the magnet and the chip. At the same time, the magnet adopts a magnet which can shield part of the weak magnetic interference, so as to solve the problem of mutual magnetic interference of multiple such encoders in a narrow space. The principle is to use the low impedance and high magnetic permeability characteristics of ferromagnetic materials, which can shunt the external magnetic field, so that the magnetic force lines around the sensitive device are concentrated in the shielding material, thereby greatly weakening the magnetic field in the shielding body, and playing a magnetic shielding role on the sensitive device, as shown in FIG. 2. Figure 10

[0050] In order to achieve a very small size, reduce the gap between the magnet and the magnetic angle sensor, and reduce the interference of the magnet on other magnetic working devices in a narrow space, the magnet adopts a magnet with smaller surface magnetism, rather than a neodymium iron boron magnet which is the mainstream of magnetic encoders on the market. The encoder cancels the double bearing structure of the traditional encoder under the condition that the performance, rotation and precision performance of the encoder are verified, and adopts a single bearing.

[0051] ​​And the encoder adopts convex structure, the smaller part of the upper part can install bearing, the design can make the bearing can select smaller size bearing, the larger part of the lower part can install magnetic encoding board, the size of the magnetic encoding board is slightly larger, which can be compatible with more components and more packaged chips; Single encoder shaft 1 is fixed to the convex encoder seat 3 by means of adhesive or interference assembly.

[0052] The inclined setting can reduce the friction between the encoder shaft 1 and the encoder seat 3, improve the smoothness and accuracy of rotation, and the inclination angle can optimize the force transmission path, reduce the problem of excessive local stress, and improve the service life of the encoder shaft 1. When the traditional encoder adopts inclined setting, the inclined plane is usually arranged to coincide with the vertical center line. When the shaft rod is inserted by the operator, the reverse force is formed between the shaft rod and the insertion part due to improper application of force, thereby forming a force barrier. The inclined angle can optimize the force transmission path. When the reverse force is formed, the eccentric force formed by the inclined setting facilitates the transmission of the force, reduces the reverse force during insertion, and thus optimizes the effect of the force;

[0053] In addition, the inclined setting can increase the stability of the encoder shaft 1, reduce the deviation caused by vibration or impact, reduce wear by reducing the direct contact area, prolong the service life of the encoder shaft 1, and reduce the damage to the encoder shaft 1. On the other hand, the inverse inclination angle 11 can provide a guiding effect, facilitate the installation and removal of the encoder shaft 1, improve the convenience of operation, and improve the smoothness of rotation;

[0054] The magnet 6 is a weak surface magnet, and the magnet is a weak surface magnet. The weak surface magnet can reduce the electromagnetic interference to the surrounding electronic equipment, improve the anti-interference ability of the system, reduce the interference, improve the stability of the encoder output signal, ensure the accuracy of measurement, and the magnetic field of the weak surface magnet is weak. It can reduce the adsorption of surrounding magnetic materials and avoid equipment failure caused by adsorption of foreign matter.

[0055] The inverse inclination angle 11 and the center point of the encoder shaft 1 are 1.8mm, 4.18mm, 6.06mm and 8.91mm respectively, as shown in Figure 7 and Figure 8 The inverse inclination angle 11 and the center point of the encoder shaft 1 can be multiples of the above values; different distance settings can ensure that the force on the encoder shaft 1 is more uniform, reduce the problem of excessive local stress, and improve the service life of the encoder shaft 1. By setting multiple distances, stress can be dispersed, stress concentration points can be reduced, the fatigue resistance of the encoder shaft 1 can be improved, and different distance settings can reduce the direct contact area between the encoder shaft 1 and the convex encoder seat 3, reduce wear, and prolong the service life of the encoder shaft 1;

[0056] On the other hand, by setting different distances, the distribution of friction can be optimized, friction loss can be reduced, the smoothness of rotation can be improved, multi-stage guiding can be provided, the encoder shaft 1 can be easily installed and removed, the operation convenience can be improved, the error during installation can be reduced, the correct installation position of the encoder shaft 1 can be ensured, and the installation precision can be improved.

[0057] The surface of the encoder shaft 1 is provided with a circlip 2 for preventing the bearing from falling off, which surrounds the surface of the encoder shaft 1; the circlip 2 can firmly fix the bearing to prevent it from falling off due to vibration or impact during operation, ensuring the stability and reliability of the bearing. By preventing the bearing from falling off, safety accidents caused by the falling off of the bearing can be reduced, and the safety of operation can be improved. Moreover, the circlip 2 can reduce the slight displacement between the bearing and the encoder shaft 1, reduce further vibration, and improve the stability of the encoder shaft 1. On the other hand, the circlip 2 can ensure the concentricity of the bearing and the encoder shaft 1, reduce eccentricity and shaking, and improve the stability of rotation.

[0058] The end of the encoder shaft 1 extending into the inside of the convex encoder seat 3 is provided with a shaft rear boss 5, one end of which is higher than the lowest point of the surface of the bearing groove 4, and the shaft rear boss 5 is used to raise the bearing inside the bearing groove 4, so that the rotating shaft or bearing does not interfere with the convex encoder seat 3.

[0059] The shaft rear boss 5 raises the bearing so that it does not contact the inner wall of the convex encoder seat 3, reducing friction and improving the smoothness of rotation. By preventing interference, vibration and instability caused by contact can be reduced, and the stability of the encoder shaft 1 can be improved. In addition, the design of the shaft rear boss 5 can ensure the correct position of the bearing in the bearing groove 4, reduce the deviation during rotation, and improve the measurement accuracy of the encoder. By raising the bearing, the rotation path of the encoder shaft 1 can be optimized, the deviation during rotation can be reduced, and the measurement accuracy can be improved.

[0060] The bottom of the convex encoder seat 3 is provided with a rear cover 9 for protecting and insulating the magnetic encoding plate 8; the rear cover 9 can protect the magnetic encoding plate 8 from external physical damage such as impact, scratching, etc., by protection to reduce damage, prolong the service life of the magnetic encoding plate 8, on the other hand, the rear cover 9 can prevent dust, moisture and other pollutants from entering, keep the magnetic encoding plate 8 clean, ensure its normal work, also can prevent external objects from contacting the magnetic encoding plate 8, can reduce the safety accidents caused by short circuit or electric shock, improve the safety of operation, provide insulation layer, prevent the magnetic encoding plate 8 from contacting the convex encoder seat 3 or other conductive parts, avoid short circuit phenomenon, insulation design can reduce electromagnetic interference, improve the signal stability and reliability of the magnetic encoding plate 8, ensure the accurate measurement of the encoder, and the design of the rear cover 9 makes the installation of the magnetic encoding plate 8 more convenient and fast, reduces the installation time, improves the convenience of operation, facilitates the inspection and replacement of the magnetic encoding plate 8, improves the convenience of maintenance, the rear cover 9 is arranged at the rear of the magnetic encoding plate 8, and the materials of the convex encoder seat 3 and the rear cover 9 can be metal, including magnetic and non-magnetic metal, or plastic.

[0061] The bottom of the convex encoder seat 3 is provided with a connection groove 10 for auxiliary encoder wire terminal or lead-out wire; the connection groove 10 can provide a fixed mounting position, so that the installation of the wire terminal or lead-out wire is more convenient and fast, reduces the installation time, so that the wire terminal or lead-out wire can be easily disassembled, facilitating the inspection and maintenance of the encoder, improving the convenience of maintenance; in addition, the connection groove 10 can ensure the fixation of the wire terminal or lead-out wire, reduce the looseness caused by vibration or movement, improve the reliability of the connection, by fixing in the connection groove 10, the wire terminal or lead-out wire can be prevented from accidentally falling off during use, ensuring the continuity and stability of the signal.

[0062] The convex encoder seat 3 has a convex part with a bearing hole (not labeled) for fixing the micro encoder, the outer cylinder of the bearing hole is provided with at least one plane, the number of planes is four, the planes are located at the outer side edge of the convex part of the convex encoder seat 3, the planes are evenly distributed with the center point of the convex encoder seat 3, the spacing and angle between adjacent two planes are equal; the four evenly distributed planes can provide accurate positioning reference, ensure the accurate positioning of the encoder seat 3 during installation, reduce installation error, the evenly distributed planes can be easily aligned with other components, ensure the accurate relative position between components, reduce vibration caused by asymmetry, improve the stability of the encoder seat 3, reduce the problem of excessive local stress, improve the stability of the overall structure;

[0063] On the other hand, the plane can provide more contact surface, enhance the connection reliability with other components, reduce the risk of loosening and falling off, and also reduce the stress concentration point, improve the fatigue resistance of the encoder seat 3, and the use of four plane settings can ensure the uniform distribution of force on the encoder seat 3, optimize the force transmission path, reduce the problem of excessive local stress, reduce the stress concentration point, and improve the fatigue resistance of the encoder seat 3. The flange surface of the encoder cancels the screw hole connection mode, and the four planes are uniformly distributed in the small diameter part of the convex shape for fixing. The setting of the four flat positions can reduce the volume of the encoder, and the four planes can be used for locking screws.

[0064] The magnet 6 is a ferrite plane two-pole magnet; compared with rare earth magnets such as neodymium iron boron, ferrite magnets have lower cost, are suitable for large-scale production and wide application, and can significantly reduce the overall system cost without affecting performance. In addition, ferrite magnets have good temperature stability in a wide temperature range, and the magnetic performance changes little even in high-temperature or low-temperature environments, improving the overall operation stability. At the same time, it has high coercivity and is not easy to be demagnetized by external magnetic fields, ensuring stable magnetic performance in complex electromagnetic environments. On the other hand, in the presence of strong magnetic field interference, ferrite magnets can maintain their magnetic properties, reducing the influence of external magnetic fields and having certain anti-interference performance. They also have good corrosion resistance and do not need additional coating protection, making them suitable for a variety of working environments. The magnetic field characteristics of the magnet used in the encoder and the relationship between the magnet and the magnetic angle sensor chip 7 meet the requirements shown in the figure, and the principles and structures complement each other. Figure 10

[0065] The use of plane two-pole magnetization is conducive to accurate detection by the magnetic sensor, improving the measurement accuracy of the encoder. At the same time, the plane two-pole magnetization design can simplify the magnetic circuit structure, reduce the complexity of the magnetic circuit, and improve the reliability and stability of the system. The plane two-pole magnet can also be easily installed on the rotor or stator of the encoder, simplifying the installation process and improving production efficiency.

[0066] The encoder shaft 1 is connected to the convex encoder seat 3 to form a three-step structure. The convex part of the encoder shaft 1 is the first step, the middle part of the convex encoder seat 3 is the second step, and the bottom part of the convex encoder seat 3 is the third step. The diameter of the third step is larger than that of the second step, and the second step can install a single bearing.

[0067] ​The three-stage structure provides multiple support points, ensures stable connection between the encoder shaft 1 and the convex encoder seat 3, improves the uniform distribution of force in the multi-stage structure, reduces deformation and wear caused by excessive local stress, and reduces vibration of the encoder shaft 1, thereby improving the measurement accuracy of the encoder; the stepped structure can provide accurate alignment reference to ensure accurate alignment between the encoder shaft 1 and the convex encoder seat 3, the second step can install a single bearing to ensure smooth and accurate rotation of the encoder shaft 1, reduce friction, improve the rotation efficiency of the encoder shaft 1, and prolong the service life of the bearing;

[0068] In addition, the stepped structure can simplify the installation process, ensure quick installation and disassembly of the encoder shaft 1 and the convex encoder seat 3, facilitate disassembly, inspection, maintenance and replacement of parts, and on the other hand, the multi-stage stepped structure can reduce loosening caused by vibration or external force, improve the safety of operation, reduce faults caused by structural problems by improving structural stability and reducing vibration, and improve the reliability of the overall structure.

[0069] The design points of the utility model lie in: the design adopts embedded assembly structure, adopts magnetic isolation principle, makes the encoder into a whole component, and is embedded into the equipment, realizes high-precision angle sensing, saves more space, and can be installed close to each other to resist mutual interference.

[0070] On the other hand, the inclined setting can reduce the friction between the encoder shaft 1 and the encoder seat 3, improve the smoothness and accuracy of rotation, and the inclination angle can optimize the force transmission path, the eccentric force formed by the inclined setting facilitates force transmission, reduces the reverse force during normal insertion, and thus optimizes the effect of force.

[0071] The above content is a further detailed description of the utility model in combination with specific preferred embodiments, and cannot be considered as limiting the specific implementation of the utility model to these descriptions. For ordinary skilled persons in the technical field to which the utility model belongs, some simple deductions or substitutions can be made without departing from the concept of the utility model, and all of them should be considered as the protection scope of the utility model.

Claims

1. A miniature convex embedded rotary encoder comprising an encoder shaft, a convex encoder hub and a magnetic angle sensor chip, characterized in that: The encoder shaft is in a long strip ladder structure, one end of the encoder shaft extends to the inside of the convex encoder seat, one end of the encoder shaft ladder structure extends beyond the surface of the convex encoder seat, the magnetic sensitive angle sensor chip is located in the inside of the convex encoder seat, the inside of the convex encoder seat is provided with a bearing groove for placing a single bearing, the bearing groove is in a concave structure, the inside of the convex encoder seat is provided with a magnetic encoding plate, one end of the magnetic encoding plate is connected with the surface of the magnetic sensitive angle sensor chip; The end of the encoder shaft in the ladder structure is provided in an inclined manner, the angle between the inclined angle and the vertical center line of the encoder shaft is 4°, the angle between the inclined angle and the horizontal center line of the encoder shaft is 86°, the end of the encoder shaft provided in the inclined manner is provided with an inverted bevel, the inverted bevel is spaced apart from the center point of the encoder shaft, the inside of the convex encoder seat is provided with a magnet, the magnet is a magnet made of weak surface magnet and ferrite magnet.

2. A miniature convex embedded rotary encoder according to claim 1, characterized in that: The inverted bevel and the center point of the encoder shaft are respectively 1.8mm, 4.18mm, 6.06mm and 8.91mm.

3. A miniature convex embedded rotary encoder according to claim 1, characterized in that: The surface of the encoder shaft is provided with a clamping spring for preventing the bearing from falling off, the clamping spring surrounds the surface of the encoder shaft.

4. A miniature convex embedded rotary encoder according to any one of claims 1-3, characterized in that: The end of the encoder shaft extending to the inside of the convex encoder seat is provided with a shaft rear boss, one end of the shaft rear boss is higher than the lowest point of the surface of the bearing groove.

5. A miniature convex embedded rotary encoder according to any one of claims 1-3, characterized in that: The bottom of the convex encoder seat is provided with a rear cover for protecting and insulating the magnetic encoding plate.

6. A miniature convex embedded rotary encoder according to any one of claims 1-3, characterized in that: The bottom of the convex encoder seat is provided with a connecting groove for assisting the encoder to lead out the terminal or the lead-out wire.

7. A miniature convex embedded rotary encoder according to any one of claims 1-3, characterized in that: The convex part of the convex encoder seat is provided with a bearing hole for fixing the micro encoder, the outer cylinder of the bearing hole is provided with at least one plane, the planes are uniformly distributed with the center point of the convex encoder seat, the spacing and the angle between the adjacent two planes are equal.

8. A miniature convex embedded rotary encoder according to any one of claims 1-3, characterized in that: The magnet is a ferrite plane two-pole magnet.

9. A miniature convex embedded rotary encoder according to any one of claims 1-3, characterized in that: The encoder shaft and the convex encoder seat connected in a three-section ladder structure, the convex part of the encoder shaft is a first ladder, the middle part of the convex encoder seat is a second ladder, and the bottom of the convex encoder seat is a third ladder, the diameter of the third ladder is greater than that of the second ladder, and the second ladder can be provided with a single bearing.

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