Reflective encoder and automated device

Abstract

The application relates to the technical field of encoders. In view of the problem that an encoder in the prior art is not suitable for application scenarios with small installation spaces, the application provides a reflective encoder and an automatic device. The reflective encoder comprises a main shell, the main shell is provided with an installation cavity, a circuit board is arranged in the main shell, a rotating shaft is arranged at least partially in the installation cavity, a code disc assembly comprises a mounting seat and a code disc, the mounting seat is connected with the rotating shaft, the code disc is arranged on one side of the mounting seat facing the circuit board, the code disc is provided with a reflective grating, a photosensitive device is arranged on the circuit board and is electrically connected with the circuit board, the photosensitive device and the code disc are oppositely arranged along the axis direction of the rotating shaft, a magnet is arranged on one side of the mounting seat facing the circuit board, and a magnetic sensitive device is arranged on the circuit board and is electrically connected with the circuit board, the magnetic sensitive device and the magnet are oppositely arranged along the axis direction of the rotating shaft. The overall thickness of the reflective encoder is thinner.

Description

Technical Field

[0001] This application relates to the field of encoder technology, and more specifically, to a reflective encoder and an automation device. Background Technology

[0002] An encoder is a sensor that transmits angle, speed, and rotation count in real time. It is typically installed on the rotating shaft of a servo motor or automated equipment to convert the shaft's speed and angular displacement into electrical signals for closed-loop feedback. With the increasing prevalence of industrial intelligence, various automated equipment places ever-higher demands on the stability and accuracy of servo control systems. As a crucial feedback unit in servo control systems, encoders face increasingly stringent requirements regarding their installation dimensions, stability, and lifespan.

[0003] In related technologies, encoder structures typically house the three main components—light source, code disk, and sensing element—within a housing. This results in a significant thickness and volume, making them unsuitable for applications with limited installation space. Utility Model Content

[0004] To address the issue that encoders in related technologies are unsuitable for installation in limited spaces.

[0005] The first aspect of this application is to propose a reflective encoder.

[0006] The second aspect of this application is to propose an automated device.

[0007] In view of the above, according to the first aspect of this application, a reflective encoder is proposed, comprising: a main housing having a mounting cavity; a circuit board disposed in the main housing; a rotating shaft at least partially disposed within the mounting cavity; a code disk assembly including a mounting base and a code disk, the mounting base being connected to the rotating shaft, the code disk being disposed on the side of the mounting base facing the circuit board, and a reflective grating being provided on the code disk; a photosensitive device disposed on and electrically connected to the circuit board, the photosensitive device and the code disk being disposed opposite each other along the axial direction of the rotating shaft; a magnet disposed on the side of the mounting base facing the circuit board; and a magnetically sensitive device disposed on and electrically connected to the circuit board, the magnetically sensitive device and the magnet being disposed opposite each other along the axial direction of the rotating shaft.

[0008] In the above technical solution, the encoder can be designed to be smaller and have stronger anti-interference capabilities. Furthermore, the magnet rotates synchronously with the shaft, and the magnetic field change signal it generates complements and verifies the light signal detected by the photosensitive device, jointly providing the encoder with multi-dimensional and high-precision detection information, further improving the overall performance of the encoder.

[0009] In some technical solutions, optionally, the mounting base is provided with a first mounting part and a second mounting part; the first mounting part and the rotating shaft are coaxially arranged, and the second mounting part is arranged around the first mounting part; wherein, the magnet is embedded in the first mounting part, and the code disk is embedded in the second mounting part.

[0010] In the above technical solution, since the magnet and the code disk are mounted on different mounting parts of the mounting base, both the magnetic field change signal of the magnet and the light signal reflected by the code disk can accurately reflect the rotation state of the shaft. These two different types of signals can complement each other, thereby obtaining more comprehensive and accurate rotation information of the shaft, greatly improving the accuracy and reliability of encoder measurements.

[0011] In some technical solutions, the main housing is also provided with a first mounting hole; the first mounting hole is arranged radially along the main housing and communicates with the mounting cavity; the pre-fitting is set in the first mounting hole and can move back and forth along the first mounting hole.

[0012] In practical applications, when it is necessary to fix the rotating shaft, the pre-fitting device can be made to abut against the outer wall of the rotating shaft. This can prevent unnecessary shaking or displacement before it is fully fixed, thus playing the role of pre-positioning and pre-fixing.

[0013] In some technical solutions, optionally, the main housing is also provided with a second mounting hole; the rotating shaft is provided with a third mounting hole and a fourth mounting hole; the third mounting hole is arranged along the axial direction of the rotating shaft and at least penetrates the end of the rotating shaft away from the code disk; the fourth mounting hole is arranged radially along the rotating shaft and connects the third mounting hole and the second mounting hole; the reflective encoder also includes a locking fastener; the locking fastener is disposed in the second mounting hole and can move back and forth along the second mounting hole.

[0014] In the above technical solution, when the locking fastener moves along the second mounting hole and extends into the third mounting hole through the fourth mounting hole, it is equivalent to applying a constraint force in both the axial and radial directions of the rotating shaft, thereby fixing the rotating shaft and greatly enhancing the stability of the rotating shaft fixation, ensuring that it will not loosen or shift due to external forces such as vibration and impact during the operation of the reflective encoder.

[0015] In some technical solutions, the second mounting hole may optionally be a smooth hole, and the fourth mounting hole may be a threaded hole; the locking fastener and the fourth mounting hole are threaded together. In practical applications, the threaded connection simplifies the installation process, helps improve installation efficiency, and provides a more robust fixation to ensure the stability of the reflective encoder during use.

[0016] In some technical solutions, optionally, there are at least three second mounting holes, which are evenly spaced along the circumference of the main housing; there are at least three fourth mounting holes, which correspond one-to-one with the at least three second mounting holes.

[0017] In the above technical solution, by setting multiple second and fourth mounting holes, the rotating shaft of the device under test can be fixed from multiple positions during the final installation, thereby helping to improve the stability of the connection.

[0018] In some technical solutions, the first mounting hole is optionally a threaded hole, and the pre-fitting part is threadedly connected to the first mounting hole.

[0019] In some technical solutions, optionally, there are at least three first mounting holes; the at least three first mounting holes are evenly spaced along the circumference of the main housing; wherein, there are at least three pre-fitting components, each disposed in one of the at least three first mounting holes.

[0020] In some technical solutions, optionally, the first mounting hole includes a first segment and a second segment; the inner diameter of the second segment is smaller than the inner diameter of the first segment; wherein the pre-fitting member includes a body and an end, the body can extend into the second segment, and the diameter of the end is at least larger than the inner diameter of the second segment. This creates a stepped portion between the first and second segments, and a limiting portion is formed at the connection point between the body and the end of the pre-fitting member. When the pre-fitting member extends into the first mounting hole, the limiting portion is stopped by the stepped portion, thereby limiting the length of the pre-fitting member extending into the first mounting hole, thus preventing the pre-fitting member from extending too deeply during installation and affecting the rotating shaft.

[0021] According to a second aspect of this application, an automated device is also proposed, comprising the reflective encoder proposed in any of the above-described technical solutions. Thus, this automated device possesses all the beneficial effects of any of the above embodiments, which will not be elaborated further here.

[0022] Additional aspects and advantages of this application will become apparent in the following description or may be learned by practice of this application. Attached Figure Description

[0023] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0024] Figure 1 A schematic diagram of the structure of a reflective encoder according to an embodiment of this application is shown;

[0025] Figure 2 A second schematic diagram of the structure of a reflective encoder in an embodiment of this application is shown;

[0026] Figure 3 The third schematic diagram of the reflective encoder in an embodiment of this application is shown;

[0027] Figure 4 A schematic diagram illustrating the working principle of a reflective encoder in an embodiment of this application is shown.

[0028] in, Figures 1 to 4 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0029] 100 Main housing; 110 Mounting cavity; 120 First mounting hole; 121 First section; 122 Second section; 130 Second mounting hole; 200 Circuit board; 210 Hall switch; 220 Microcontroller; 230 Communication module; 240 Storage module; 250 Monitoring module; 260 Shaping circuit; 270 Switching circuit; 280 Power supply; 290 Sensor; 300 Encoder assembly; 310 Mounting base; 311 First mounting part; 312 Second mounting part; 320 Encoder; 321 Reflector grating; 400 Rotating shaft; 410 Third mounting hole; 420 Fourth mounting hole; 500 Photosensitive device; 600 Magnet; 700 Magnetic sensitive device; 800 Pre-fitting device; 810 Body; 820 End; 900 Locking device. Detailed Implementation

[0030] To better understand the above-mentioned objectives, features, and advantages of this application, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0031] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0032] The following is combined with Figures 1 to 4 The reflective encoder and automation equipment provided in this application will be described in detail through specific embodiments and application scenarios.

[0033] Reference Figure 1 , Figure 2 and Figure 3 Some embodiments of this application provide a reflective encoder, the structure of which includes: a main housing 100, a circuit board 200, a code disk assembly 300, a rotating shaft 400, a light-sensitive device 500, a magnet 600, and a magnetic-sensitive device 700.

[0034] Specifically, the main housing 100 has a mounting cavity 110 as a space to accommodate other encoder components. A circuit board 200 is disposed in the main housing 100. A rotating shaft 400 is at least partially disposed within the mounting cavity 110. The code disk assembly 300 includes a mounting base 310 and a code disk 320. The mounting base 310 is connected to the rotating shaft 400. The code disk 320 is disposed on the side of the mounting base 310 facing the circuit board 200, and a reflective grating 321 is provided on the code disk 320. A photosensitive device 500 is disposed on and electrically connected to the circuit board 200. Along the axial direction of the rotating shaft 400, the photosensitive device 500 and the code disk 320 are positioned opposite each other. A magnet 600 is disposed on the side of the mounting base 310 facing the circuit board 200. A magnetically sensitive device 700 is disposed on and electrically connected to the circuit board 200. Along the axial direction of the rotating shaft 400, the magnetically sensitive device 700 and the magnet 600 are positioned opposite each other.

[0035] In the above embodiments, the main housing 100 serves as a protective structure for the encoder. The mounting cavity 110 provided on it provides installation and housing space for other key components inside the encoder (such as the circuit board 200, the rotating shaft 400, the code disk assembly 300, etc.), protecting the sensitive electronic and optical components inside from damage caused by external dust, moisture, mechanical impacts, etc., and extending the service life of the encoder.

[0036] Mounting base 310 serves as a support structure for encoder 320 and is connected to rotating shaft 400, enabling encoder 320 to rotate synchronously with rotating shaft 400, thereby achieving the measurement of rotation parameters.

[0037] The code disk 320 is equipped with a reflective grating 321. When light shines on the reflective grating 321, the light is selectively reflected back due to the special structure of the grating. As the code disk 320 rotates, the reflected light undergoes regular changes. These changing light signals are received by the photosensitive device 500 and converted into electrical signals, providing a basis for subsequent angle measurements.

[0038] The rotating shaft 400 connects the encoder to the external mechanical system and is the encoder's motion input component. It receives the rotational power from the external mechanical system and transmits it to the code disk assembly 300, enabling the code disk 320 to rotate. By measuring the rotation of the code disk 320, the rotation parameters of the rotating shaft 400 can be indirectly obtained.

[0039] A photosensitive device 500 is disposed on the circuit board 200, opposite to the code disk 320 along the axis of the rotation shaft 400. It can receive the light signal reflected back from the reflective grating 321 on the code disk 320 and convert the light signal into an electrical signal. The intensity and variation of the electrical signal are closely related to the rotation state of the code disk 320.

[0040] Magnet 600 is positioned on the side of mounting base 310 facing circuit board 200. As shaft 400 and mounting base 310 rotate, magnet 600 also rotates, thereby changing the magnetic field distribution around it. This changing magnetic field provides a detectable signal source for magnetic sensing device 700.

[0041] A magnetic sensor 700 is mounted on circuit board 200, positioned opposite the magnet 600 along the axis of the rotating shaft 400. It utilizes the Hall effect or a magnetoresistive sensor to detect changes in the magnetic field around the magnet 600, generating orthogonal square wave signals and index signals to determine the rotation direction, cumulative angle, and zero-position calibration. By analyzing these signals, rotational information of the rotating shaft 400 can be obtained, complementing and verifying the light signals detected by the photosensor 500, thereby improving the accuracy and reliability of encoder measurements.

[0042] In the above embodiment, the code disk 320 is a reflective code disk, that is, it adopts the reflective optical principle. The light source is reflected by the reflective grating 321 on the code disk 320, and the light signal is received by the photosensitive device 500 and converted into electrical pulses, thereby realizing high-precision displacement detection. Compared with the transmissive code disk, it does not require a collimating lens, and the light source and the photosensitive device 500 can be arranged on the same side, which greatly simplifies the structure of the optical system, allowing the encoder to be designed to be smaller and have stronger anti-interference capabilities. Furthermore, the magnet 600 rotates synchronously with the rotating shaft 400, and the magnetic field change signal it generates complements and verifies the light signal detected by the photosensitive device 500, jointly providing the encoder with multi-dimensional and high-precision detection information, further improving the overall performance of the encoder.

[0043] In practical applications, the circuit board 200 is at least partially disposed within the mounting cavity 110. Embedding the circuit board 200 partially or entirely within the mounting cavity 110 can, on the one hand, make full use of the space inside the main housing 100, making the overall structure more compact; on the other hand, it can protect the circuit board 200 from damage and also protect other components within the mounting cavity 110.

[0044] In some embodiments, a Hall switch 210 is also provided on the circuit board 200. The Hall switch 210 is located on the side of the circuit board 200 away from the magnet 600 and is electrically connected to the circuit board 200. The Hall switch 210 can be used to count the number of rotations of the shaft 400, thereby further improving the accuracy of detection.

[0045] In some embodiments, the mounting base 310 is provided with a first mounting portion 311 and a second mounting portion 312. The first mounting portion 311 is disposed at the middle of the rotating shaft 400 and is coaxially disposed with the rotating shaft 400; the second mounting portion 312 is disposed around the first mounting portion 311. The magnet 600 is embedded in the first mounting portion 311, and the code disk 320 is embedded in the second mounting portion 312.

[0046] In the above embodiment, the first mounting portion 311 is located at the center of the rotating shaft 400 and is coaxially arranged with the rotating shaft 400. This coaxial design ensures that the first mounting portion 311 can smoothly and synchronously follow the rotation of the rotating shaft 400, thereby providing a stable operating environment for the components mounted on it. The magnet 600 is embedded in the first mounting portion 311. Through this embedding method, the magnet 600 can be tightly combined with the first mounting portion 311. When the rotating shaft 400 rotates, the magnet 600 can rotate synchronously with the first mounting portion 311 and the rotating shaft 400, thereby changing the magnetic field distribution around it and providing a reliable signal source for subsequent magnetic field detection. The second mounting portion 312 is arranged in a ring around the first mounting portion 311, forming a layered layout structure. The code disk 320 is embedded in the second mounting portion 312 and can maintain a stable relative position. When the rotating shaft 400 drives the mounting base 310 to rotate, the code disk 320 will also rotate synchronously, working with the light source and the photosensitive device 500 to realize the reflection and detection of light signals.

[0047] In practical applications, since the magnet 600 and the code disk 320 are mounted on different mounting parts of the mounting base 310, and the mounting base 310 is closely connected to the rotating shaft 400, the magnetic field change signal of the magnet 600 and the light signal reflected by the code disk 320 can accurately reflect the rotation state of the rotating shaft 400. These two different types of signals can complement each other, thereby obtaining more comprehensive and accurate rotation information of the rotating shaft 400 (including rotation direction, rotation angle, rotation speed, etc.), greatly improving the accuracy and reliability of encoder measurement, and also enhancing the encoder's adaptability and anti-interference ability in different working environments.

[0048] In some embodiments, the main housing 100 is further provided with a first mounting hole 120. The first mounting hole 120 is arranged radially along the main housing 100 and communicates with the mounting cavity 110. The reflective encoder further includes a pre-installed component 800, which is disposed in the first mounting hole 120 and can move back and forth along the first mounting hole 120.

[0049] In practical applications, when it is necessary to fix the rotating shaft 400, the pre-fixed part 800 and the outer wall surface of the rotating shaft 400 can be made to abut against each other. This can prevent unnecessary shaking or displacement before it is fully fixed, and play the role of pre-positioning and pre-fixing.

[0050] In some embodiments, the main housing 100 is provided with a second mounting hole 130, which is arranged radially along the main housing and communicates with the mounting cavity 110. The rotating shaft 400 is provided with a third mounting hole 410 and a fourth mounting hole 420. The third mounting hole 410 is arranged along the axial direction of the rotating shaft 400 and at least extends through one end of the rotating shaft away from the circuit board 200; the fourth mounting hole 420 is arranged radially along the rotating shaft 400 and communicates with the second mounting hole 130 and the third mounting hole 410. The reflective encoder also includes a locking fastener 900, which is disposed within the second mounting hole 130 and is movable back and forth along the second mounting hole 130.

[0051] In the above embodiment, since the second mounting hole 130 and the fourth mounting hole 420 are connected, when the locking fastener 900 moves along the second mounting hole 130 and extends into the third mounting hole 410 through the fourth mounting hole 420, it is equivalent to applying a constraint force in both the axial and radial directions of the rotating shaft 400, thereby fixing the rotating shaft 400 and greatly enhancing the stability of the rotating shaft 400, ensuring that it will not loosen or shift due to external forces such as vibration and impact during the operation of the reflective encoder.

[0052] In practical applications, this reflective encoder has a locked state and a pre-fixed state. In the locked state, the pre-fixed part 800 is at least not in contact with the rotating shaft 400, and the locking part 900 extends into the third mounting hole 410 through the fourth mounting hole 420. In the pre-fixed state, the pre-fixed part 800 abuts against the rotating shaft 400, and the locking part 900 is at least out of the third mounting hole 410, so that the relative position between the rotating shaft 400 and the main housing 100 remains stable. This, in turn, keeps the relative position between the code disk 320 and the circuit board 200 stable, avoiding misalignment during installation, transportation, etc., which could reduce or disable the encoder's function. This helps improve the encoder's accuracy and stability, thereby increasing the encoder's installation yield and efficiency.

[0053] In the above embodiment, before use, the pre-fixed fastener 800 is used to pre-fix the main housing 100 and the rotating shaft 400, stabilizing the relative position between the code disk 320 and the circuit board 200. At this time, the locking fastener 900 is at least out of the third mounting hole 410, placing the reflective encoder in a pre-fixed state. During final installation, the rotating shaft of the device under test extends into the third mounting hole 410, and then the locking fastener 900 extends into the third mounting hole 410 and abuts against the rotating shaft of the device under test. Finally, the pre-fixed fastener 800 is at least not in contact with the rotating shaft 400, ensuring that the rotating shaft 400 can rotate freely, thus placing the reflective encoder in a locked state. This design allows for precise positioning of the code disk 320 of the reflective encoder, helping to improve the installation yield and efficiency.

[0054] In some embodiments, the second mounting hole 130 is a smooth hole, and the fourth mounting hole 420 is a threaded hole. The locking fastener 900 and the fourth mounting hole 420 are threadedly connected. The threaded connection simplifies the installation process, improves installation efficiency, and provides a more secure fixation to ensure the stability of the reflective encoder during use.

[0055] In practical applications, to achieve a secure connection, there are at least three second mounting holes 130, evenly spaced along the circumference of the main housing 100. Correspondingly, there are at least three fourth mounting holes 420, corresponding one-to-one with the second mounting holes 130.

[0056] In some embodiments, the first mounting hole 120 is a threaded hole, and the pre-fitting 800 is threadedly connected to the first mounting hole 120.

[0057] In the above embodiment, the first mounting hole 120 is designed to be of a different type than the second mounting hole 130. This makes it easier for users to quickly identify and install the corresponding pre-installed firmware 800 and locking firmware 900, which helps to improve installation efficiency.

[0058] In this embodiment, the pre-fitting component 800 and the locking component 900 are screws, but it is understood that they can also be other connection structures that can achieve a fastening effect, such as rivets, pins, and clips, and this embodiment is not limited to them.

[0059] In practical applications, to achieve a stable connection, there are at least three first mounting holes 120, which are evenly spaced along the circumference of the main housing 100. Correspondingly, there are at least three pre-installed fasteners 800, which correspond one-to-one with the first mounting holes 120 and are respectively disposed in at least three of the first mounting holes 120.

[0060] In some embodiments, the first mounting hole 120 includes a first segment 121 and a second segment 122. The inner diameter of the second segment 122 is smaller than the inner diameter of the first segment 121, forming a stepped portion between the first segment 121 and the second segment 122. The pre-fitting member 800 includes a body 810 and an end 820, the body 810 extending into the second segment 122, and the diameter of the end 820 being at least larger than the inner diameter of the second segment 122. This allows a limiting portion to be formed at the connection point between the body 810 and the end 820. When the pre-fitting member 800 extends into the first mounting hole 120, the limiting portion is stopped by the stepped portion, thereby limiting the length of the pre-fitting member 800 extending into the first mounting hole 120. This prevents the pre-fitting member 800 from extending too deeply during installation and affecting the rotating shaft 400.

[0061] In some embodiments, the circuit board 200 and the main housing 100 are detachably connected. This design allows the circuit board 200 to be removed from the main housing 100 when it fails or needs upgrading, thereby reducing downtime and improving the usability of the device. At the same time, during maintenance, it is not necessary to disassemble the entire reflective encoder; only the circuit board 200 needs to be operated on, which reduces the complexity and cost of maintenance and also reduces the risk of damage caused by disassembly and reassembly.

[0062] In practical applications, the circuit board 200 and the main housing 100 are provided with mounting holes suitable for communication and are connected by screws. It is understood that the circuit board 200 and the main housing 100 can also be connected by other connection structures that can achieve a fastening effect, such as rivets, pins, and clips, but this embodiment is not limited to this.

[0063] The following is combined Figure 4 The working principle of the reflective encoder proposed in the embodiments of this application will be explained in detail.

[0064] Reference Figure 2 and Figure 4 The circuit board 200 includes a microcontroller 220, a communication module 230, a storage module 240, and a monitoring module 250.

[0065] The photosensitive device 500 is connected to the microcontroller 220 via the shaping circuit 260. The magnetic sensitive device 700 is connected to the microcontroller 220 via the shaping circuit 260 and the switching circuit 270.

[0066] In the above embodiment, the microcontroller 220, as the core control unit of the circuit board 200, receives signals from the light sensor 500 and the magnetic sensor 700, and analyzes, processes, and calculates these signals to obtain the rotation information of the rotating shaft 400, such as rotation direction, angle, and speed. Simultaneously, the microcontroller 220 is also responsible for coordinating the work of other modules on the circuit board 200, and performing overall control and optimization of the encoder according to preset programs and algorithms.

[0067] The main function of the communication module 230 is to enable data communication between the encoder and external devices. It transmits the shaft rotation information processed by the microcontroller 220 to a host computer, controller, or other relevant devices via wired or wireless means for further analysis, display, or control. Simultaneously, the communication module 230 can also receive commands from external devices to perform operations such as setting encoder parameters and switching operating modes.

[0068] The storage module 240 is used to store relevant data and programs of the encoder, and can save encoder calibration parameters and historical measurement data, etc.

[0069] The monitoring module 250 is used to monitor the encoder's operating status and performance parameters in real time, such as power supply voltage, operating temperature, and signal strength, to ensure the encoder's safe and stable operation.

[0070] The shaping circuit 260 is used to shape the electrical signals output by the photosensitive device 500 and the magnetic sensitive device 700, making the waveform of the signals more standard and the amplitude more stable, so that the microcontroller 220 can accurately identify and process them.

[0071] The switching circuit 270 can flexibly adjust the signal input method according to the control instructions of the microcontroller 220 to meet the diverse working requirements of the encoder.

[0072] In practical applications, the microcontroller 220 is powered by the power supply 280. The photosensitive device 500 adopts the principle of reflective optics, reflecting the light source through the reflective grating 321 on the code disk 320, receiving the light signal and converting it into an electrical signal. After processing by the shaping circuit 260, the signal is input into the microcontroller 220 for further processing. Simultaneously, the magnetic sensor 700 uses the Hall effect or a magnetoresistive sensor to sense changes in the magnetic field around the magnet 600 and generates orthogonal square wave signals and index signals. Similarly, the signal output by the magnetic sensor 700 is processed by the shaping circuit 260 and then input into the microcontroller 220 for further processing. This complements and verifies the information detected by the photosensitive device 500, improving the accuracy and reliability of the measurement.

[0073] In some embodiments, the microcontroller 220 is also connected to the sensor 290. The sensor 290 may be a temperature sensor, a humidity sensor, or a vibration sensor. In this embodiment, by connecting to the sensor 290, the microcontroller 220 can acquire encoder operating status information in real time, such as temperature, vibration, and humidity, thereby assessing the health status and performance stability of the encoder to ensure stable operation.

[0074] In some embodiments, this application also provides an automated device having a reflective encoder provided in any of the above embodiments. Thus, the automated device possesses all the beneficial effects of any of the above embodiments, which will not be elaborated further here.

[0075] It should be clarified that in the claims, description, and accompanying drawings of this application, the term "multiple" refers to two or more objects. Unless otherwise explicitly defined, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description process, not to indicate or imply that the device or element referred to must have the described specific orientation, or be constructed and operated in a specific orientation. Therefore, these descriptions should not be construed as limitations on this application. The terms "connection," "installation," "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection between multiple objects, a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects or an indirect connection between multiple objects through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in this application can be understood based on the specific circumstances of the above data.

[0076] In the claims, description, and accompanying drawings of this application, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In the claims, description, and accompanying drawings of this application, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0077] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A reflective encoder, characterized in that, include: Main housing, wherein the main housing is provided with a mounting cavity; A circuit board is disposed in the main housing; The pivot is at least partially disposed within the mounting cavity; A code disk assembly, comprising a mounting base and a code disk, wherein the mounting base is connected to the rotating shaft, the code disk is disposed on the side of the mounting base facing the circuit board, and the code disk is provided with a reflective grating; A photosensitive device is disposed on the circuit board and electrically connected to the circuit board. The photosensitive device and the code disk are arranged opposite each other along the axial direction of the rotating shaft. A magnet is disposed on the side of the mounting base facing the circuit board; A magnetic sensing device is disposed on the circuit board and electrically connected to the circuit board. The magnetic sensing device and the magnet are arranged opposite each other along the axial direction of the rotating shaft.

2. The reflective encoder according to claim 1, characterized in that, The mounting base is provided with a first mounting part and a second mounting part; the first mounting part and the rotating shaft are coaxially arranged, and the second mounting part is arranged around the first mounting part; The magnet is embedded in the first mounting part, and the code disk is embedded in the second mounting part.

3. The reflective encoder according to claim 1, characterized in that, The main housing is further provided with a first mounting hole; the first mounting hole is arranged radially along the main housing and communicates with the mounting cavity; The pre-installed firmware is disposed within the first mounting hole and can move back and forth along the first mounting hole.

4. The reflective encoder according to claim 1, characterized in that, The main housing is also provided with a second mounting hole; The rotating shaft is provided with a third mounting hole and a fourth mounting hole; the third mounting hole is arranged along the axial direction of the rotating shaft and at least penetrates the end of the rotating shaft away from the code disk; the fourth mounting hole is arranged radially along the rotating shaft and connects the third mounting hole and the second mounting hole. The reflective encoder also includes a locking device; the locking device is disposed in the second mounting hole and can move back and forth along the second mounting hole.

5. The reflective encoder according to claim 4, characterized in that, The second mounting hole is a smooth hole, and the fourth mounting hole is a threaded hole; the locking fastener and the fourth mounting hole are threadedly connected.

6. The reflective encoder according to claim 4 or 5, characterized in that, There are at least three second mounting holes, and the at least three second mounting holes are evenly spaced along the circumference of the main housing; There are at least three fourth mounting holes, and each of them corresponds to at least three of the second mounting holes.

7. The reflective encoder according to claim 3, characterized in that, The first mounting hole is a threaded hole, and the pre-fitting part is threadedly connected to the first mounting hole.

8. The reflective encoder according to claim 3 or 7, characterized in that, There are at least three first mounting holes; at least three first mounting holes are evenly spaced along the circumference of the main housing. There are at least three pre-installed components, each disposed within at least three of the first mounting holes.

9. The reflective encoder according to claim 3, characterized in that, The first mounting hole includes a first section and a second section; the inner diameter of the second section is smaller than the inner diameter of the first section. The pre-fitting component includes a body and an end cap, the body being able to extend into the second segment, and the diameter of the end cap being at least greater than the inner diameter of the second segment.

10. An automated device, characterized in that, Including the reflective encoder as described in any one of claims 1 to 9.

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