Damped hollow encoder

Abstract

The utility model provides a kind of hollow encoder with damping, including glass bead screw, countersunk screw, gasket, bearing, rotating end, fixed end and angle limit block, the rotating end is supported between fixed end by a pair of bearings, and rotating end and fixed end can be relatively rotated, the rotating end includes shaft, and shaft is hollow structure, and fixed end includes PCBA board, terminal row is equipped on the PCBA board, and the signal line on terminal row passes through the center through-hole of shaft. The utility model adopts integrated structure design, and M2 threaded hole is processed on the encoder rotating flange and base, can be directly used as the connecting rod connection of joint and robot data acquisition device, improves the integration of structure and assembly convenience.

Description

Technical Field

[0001] This utility model belongs to the field of magnetic encoder technology, specifically, it relates to a damped hollow encoder. Background Technology

[0002] Encoders, as key components capable of accurately detecting information such as rotation angle and position, play an indispensable role in fields such as automation equipment, robotic systems, and precision instruments. Among them, magnetic encoders have become the preferred choice for many application scenarios due to their advantages such as fast response speed, strong anti-interference ability, good environmental adaptability, and cost-effectiveness.

[0003] However, existing encoders still have many limitations in terms of structural design and functional expansion:

[0004] 1. Insufficient integration and ease of assembly: Traditional encoders often exist only as independent detection elements. Their structural design does not consider direct integration with external devices (such as the linkage of robot data acquisition devices). They require additional adapters to achieve connection, which not only increases the complexity of the overall structure but also reduces assembly efficiency, making it difficult to meet the development needs of miniaturization and integration of equipment.

[0005] 2. Structural strength and stability need to be improved: Some encoders use non-metallic materials to manufacture core components, which are prone to deformation and wear under long-term use or load conditions, affecting their service life; at the same time, the support structure of the shaft and base is simple, mostly supported by a single bearing, which makes it difficult to guarantee rotational accuracy, and the stability and load-bearing capacity are weak, limiting their application in high-load scenarios.

[0006] 3. Lack of damping adjustment function or inconvenient operation: Most existing encoders do not have a damping adjustment structure, making it impossible to adjust the rotation feel according to actual usage needs; a few products with damping adjustment function require disassembly of the entire structure for adjustment, which is cumbersome and can easily affect the assembly accuracy and stability of the equipment.

[0007] 4. Limited adaptability to different scenarios: The shaft of traditional encoders is mostly solid, which cannot meet the wiring requirements of special scenarios such as needing to run cables and pipes. Its application is limited in devices with limited space or integrated wiring requirements.

[0008] Therefore, developing an encoder with high integration, stable structure, adjustable damping, and adaptability to various scenarios has become an urgent technical problem to be solved in this field. Utility Model Content

[0009] In view of the deficiencies in the existing technology, the purpose of this utility model is to provide a damped hollow encoder.

[0010] According to the present invention, a damped hollow encoder includes a ball screw, a countersunk screw, a washer, a bearing, a rotating end, a fixed end, and an angle limiting block. The rotating end and the fixed end are supported by a pair of bearings and can rotate relative to each other. The rotating end includes a shaft with a hollow structure. The fixed end includes a PCBA board with a terminal block on the PCBA board. The signal lines on the terminal block pass through the central through hole of the shaft.

[0011] In a preferred embodiment: the rotating end includes a flange, a magnetic ring, a shaft, and a flat key. The magnetic ring is fixed on the shaft and rotates synchronously with the shaft. A fastening hole is provided in the circumferential direction of the flange, and a set screw is provided in the fastening hole. The flange is connected to the shaft through the set screw. The flat key is embedded in the keyway of the flange to ensure that the flange rotates synchronously with the shaft.

[0012] In a preferred embodiment: the fixed end includes a protective cover plate, a PCBA board and a housing. Two terminal blocks are symmetrically arranged on the PCBA board. The signal lines on the terminal blocks pass through the central through hole of the shaft in sequence and are connected to the terminal blocks on the next joint encoder PCBA board. After passing through the shaft, the PCBA board is attached to the upper surface of the housing. The protective cover plate is fixedly connected to the housing by countersunk screws and the protective cover plate presses against the PCBA board. Bearings are installed on both the upper and lower sides of the housing. The shaft passes through the top of the housing and is fixed in the bearing.

[0013] In a preferred embodiment: the gasket is fitted onto the shaft and located between the flange and the protective cover plate, and the gasket has a double-layer structure.

[0014] In a preferred embodiment: a plurality of the glass ball screws pass through the axial threaded holes of the flange and press the gasket.

[0015] In a preferred embodiment: the angle limiting block is installed on the flange, the circumferential groove of the angle limiting block is engaged with the flat key on the flange, and the groove on the bottom surface of the angle limiting block contacts the corresponding boss on the protective cover plate.

[0016] In a preferred embodiment: the angle limiting block is manufactured using 3D printing technology, and angle limiting blocks with different structures can be replaced to meet different rotation range requirements.

[0017] In a preferred embodiment: the shaft has a hollow structure to meet wiring requirements.

[0018] In a preferred embodiment, the bearing is a deep groove ball bearing.

[0019] In a preferred embodiment: the flange, protective cover, shaft and housing are all made of metal materials, and M2 threaded holes are evenly distributed on the circumferential direction of the flange, the circumferential surface and the bottom surface of the housing.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. This utility model adopts an integrated structural design. M2 threaded holes are machined on the flange and housing of the encoder rotation, which can be directly used as joints to connect with the robot data acquisition device, thereby improving the integration of the structure and the ease of assembly.

[0022] 2. The encoder body of this utility model is made of metal material, which has good strength and durability; the double bearing support structure between the rotating shaft and the base not only effectively ensures the rotational accuracy of the encoder, but also enhances the stability and load-bearing capacity of the rotating shaft.

[0023] 3. This utility model adopts an adjustable damping structure design. Double-layer gaskets are set between the flange of the encoder rotation and the housing. By adjusting the screw depth of the glass ball screw on the flange, the clamping force between the gaskets can be controlled, so that the rotation damping can be flexibly adjusted without disassembling the overall structure.

[0024] 4. The shaft of this utility model adopts a hollow structure design, which can be used for wiring or for pipes to pass through, meeting some special application scenarios that require a hollow structure. Attached Figure Description

[0025] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0026] Figure 1 This is a schematic diagram of the structure of this utility model;

[0027] Figure 2 This is a cross-sectional view of the present invention;

[0028] Figure 3 This is a schematic diagram of the angle limiting block of this utility model;

[0029] Figure 4 This is a schematic diagram of the structure of the flat key of this utility model;

[0030] Figure 5 This is a schematic diagram of the structure of the flat key of this utility model;

[0031] Detailed Implementation

[0032] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0033] like Figure 1-5 As shown, this utility model discloses a damped hollow encoder, including a ball screw 1, a countersunk screw 3, a washer 4, a bearing 9, a rotating end 21, a fixed end 22, and an angle limiting block 31. The rotating end 21 and the fixed end 22 are supported by a pair of bearings 9, and the rotating end 21 and the fixed end 22 can rotate relative to each other. The bearings 9 are deep groove ball bearings to ensure smooth rotation, thereby effectively improving the structural stability and load-bearing capacity of the encoder when used as a joint. The washer 4 is fitted on the shaft 8 and located between the flange 2 and the protective cover plate 5. The washer 4 has a double-layer structure. Multiple ball screws 1 pass through the flange 2. The axial threaded hole and clamping gasket 4 are used to adjust the damping by adjusting the screw depth of the glass ball screw 1. The angle limit block 31 is installed on the flange 2. The angle limit block 31 is manufactured by 3D printing. The groove in the circumferential direction of the angle limit block 31 matches the flat key 11 on the flange 2. The groove on the bottom surface of the angle limit block 31 contacts the corresponding boss on the protective cover plate 5, thereby realizing the mechanical limit of the joint rotation angle. For different rotation range requirements, the angle limit block 31 with different structure can be replaced to realize the rapid adjustment and adaptation of the joint rotation angle, further improving the functional expandability and application adaptability of the joint module.

[0034] The rotating end 21 includes a flange 2, a magnetic ring 7, a shaft 8, and a flat key 11. The shaft 8 has a hollow structure to meet wiring requirements. The magnetic ring 7 is fixed on the shaft 8 and rotates synchronously with the shaft 8. The flange 2 has a fastening hole in the circumferential direction, and a set screw is installed in the fastening hole. The flange 2 is connected to the shaft 8 through the set screw. The flat key 11 is embedded in the keyway of the flange 2 to ensure that the flange 2 and the shaft 8 rotate synchronously.

[0035] The fixed end 22 includes a protective cover plate 5, a PCBA board 6, and a housing 10. Two terminal blocks are symmetrically arranged on the PCBA board 6. The signal lines on the terminal blocks pass through the central through hole of the shaft 8 in sequence and are connected to the terminal blocks on the next joint encoder PCBA board 6, thereby completing the signal transmission and communication between the joint modules. After passing through the shaft 8, the PCBA board 6 is attached to the upper surface of the housing 10. The protective cover plate 5 is fixedly connected to the housing 10 by countersunk screws 3, and the protective cover plate 5 presses against the PCBA board 6. Bearings 9 are installed on both the upper and lower sides of the housing 10. The shaft 8 passes through the housing 10 from the top and is fixed in the bearings 9.

[0036] The flange 2, protective cover 5, shaft 8, and housing 10 are all made of metal materials, which have high structural strength and connection reliability. M2 threaded holes are evenly distributed on the circumferential direction of the flange 2, the circumferential surface and the bottom surface of the housing 10, which can be directly used as joints to connect with the robot data acquisition device, realizing the linkage and integrated assembly between the parts.

[0037] Working principle

[0038] When this utility model is working, the rotating end 21 can rotate relative to the fixed end 22, the shaft 8 rotates together with the rotating end 21, and the magnetic ring 7 rotates synchronously because it is fixed on the shaft 8. The PCBA board 6 can detect the rotation information of the magnetic ring 7, thereby realizing the acquisition of data such as the rotation angle. The hollow structure of the shaft 8 can be used for wiring or for pipes to pass through, meeting the needs of specific application scenarios.

[0039] During rotation, by adjusting the screw depth of the glass ball screw 1 on flange 2, the clamping force between the double-layer gasket 4 can be changed, thereby controlling the magnitude of its friction force and achieving precise adjustment of the encoder rotation damping.

[0040] The angle limiting block 31 engages with the flat key 11 on the flange 2 through its circumferential groove, and contacts the corresponding boss on the protective cover plate 5 through the boss on the bottom surface, thereby achieving mechanical limiting of the joint rotation angle. For different joint rotation range requirements, the angle limiting block 31 with different limiting structures can be replaced to achieve rapid adjustment and adaptation of the joint rotation angle.

[0041] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0042] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the substantive content of this utility model. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A damped hollow encoder, characterized in that, The device includes a ball screw (1), a countersunk screw (3), a washer (4), a bearing (9), a rotating end (21), a fixed end (22), and an angle limiting block (31). The rotating end (21) and the fixed end (22) are supported by a pair of bearings (9), and the rotating end (21) and the fixed end (22) can rotate relative to each other. The rotating end (21) includes a shaft (8), which is a hollow structure. The fixed end (22) includes a PCBA board (6), which has a terminal block. The signal line on the terminal block passes through the central through hole of the shaft (8).

2. The damped hollow encoder according to claim 1, characterized in that, The rotating end (21) includes a flange (2), a magnetic ring (7), a shaft (8), and a flat key (11). The magnetic ring (7) is fixed on the shaft (8) and rotates synchronously with the shaft (8). The flange (2) has a fastening hole in the circumferential direction and a set screw is provided in the fastening hole. The flange (2) is connected to the shaft (8) through the set screw. The flat key (11) is embedded in the keyway of the flange (2) to ensure that the flange (2) rotates synchronously with the shaft (8).

3. The damped hollow encoder according to claim 2, characterized in that, The fixed end (22) includes a protective cover (5), a PCBA board (6) and a housing (10). Two terminal blocks are symmetrically arranged on the PCBA board (6). The signal lines on the terminal blocks pass through the central through hole of the shaft (8) in sequence and are connected to the terminal blocks on the next joint encoder PCBA board (6). After passing through the shaft (8), the PCBA board (6) is attached to the upper surface of the housing (10). The protective cover (5) is fixedly connected to the housing (10) by countersunk screws (3) and the protective cover (5) presses against the PCBA board (6). Bearings (9) are installed on both the upper and lower sides of the housing (10). The shaft (8) passes through the housing (10) from above and is fixed in the bearing (9).

4. The damped hollow encoder according to claim 2, characterized in that, The gasket (4) is fitted onto the shaft (8) and located between the flange (2) and the protective cover plate (5). The gasket (4) has a double-layer structure.

5. The damped hollow encoder according to claim 4, characterized in that, Multiple ball screws (1) pass through the axial threaded holes of the flange (2) and press the gasket (4).

6. The damped hollow encoder according to claim 2, characterized in that, The angle limiting block (31) is installed on the flange (2). The groove in the circumferential direction of the angle limiting block (31) is matched with the flat key (11) on the flange (2). The groove on the bottom surface of the angle limiting block (31) is in contact with the corresponding boss on the protective cover plate (5).

7. The damped hollow encoder according to claim 6, characterized in that, The angle limiting block (31) is manufactured using 3D printing technology. Different angle limiting blocks (31) with different structures can be replaced to meet different rotation range requirements.

8. The damped hollow encoder according to claim 3, characterized in that, The shaft (8) is a hollow structure to meet wiring requirements.

9. The damped hollow encoder according to claim 1, characterized in that, The bearing (9) is a deep groove ball bearing.

10. The damped hollow encoder according to claim 3, characterized in that, The flange (2), protective cover plate (5), shaft (8) and housing (10) are all made of metal materials. M2 threaded holes are evenly distributed on the circumferential direction of the flange (2), the circumferential surface and the bottom surface of the housing (10).

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