Encoder structure for joint module and joint module

Abstract

An encoder structure for a joint module and a joint module. The encoder structure for a joint module comprises: an output end measuring encoder disc (2), an input end measuring encoder disc (3), and an encoder circuit board (4); the output end measuring encoder disc (2) is mounted on a hollow shaft (8) and synchronously rotates with the hollow shaft (8); the input end measuring encoder disc (3) is mounted on a rotor (5) of the motor and synchronously rotates with the rotor (5) of the motor; the encoder circuit board (4) is arranged between the output end measuring encoder disc (2) and the input end measuring encoder disc (3); an output end measuring encoder reading head is arranged on the side of the encoder circuit board (4) close to the output end measuring encoder disc (2); and an input end measuring encoder reading head is arranged on the side of the encoder circuit board (4) close to the input end measuring encoder disc (3).

Description

Encoder structure for joint module and joint module Technical Field

[0001] The utility model relates to the technical field of joint module structures, and in particular to an encoder structure for a joint module and a joint module. Background Art

[0002] With the rapid development of industrial automation technology, robots, as an important industrial automation equipment, are gaining more and more attention and are being used more and more widely. The joint module is a key component in the robot and plays an important role in the robot's movement.

[0003] The encoder in the joint module can measure the rotation of the output end of the joint module, and can also measure the rotation of the motor rotor of the joint module. When the output end rotation of the joint module and the rotation of the motor rotor of the joint module need to be measured at the same time, multiple encoders are required to measure them separately.

[0004] The existing Chinese patent application document with announcement number CN114681060B discloses a surgical joint module, in which power is transmitted by a transmission shaft, and the transmission shaft output end of the transmission shaft drives the power to output power, and the power is transmitted to the power output flange through the reducer. The transmission shaft input end of the transmission shaft is arranged with a position encoder and a speed encoder. The speed encoder code disk of the speed sensor is installed on the brake brake, and the speed encoder reader of the speed sensor is installed on the casing. The position encoder code disk of the position encoder is fixed on the wire sleeve, and a tail protection seat extends from the casing, and the position encoder head of the position encoder is fixed on the tail protection seat.

[0005] The mounting structure of multiple encoders on the joint module in the prior art has the following main defects and needs to be improved:

[0006] 1. Multiple encoders are installed independently on the joint module, resulting in low integration.

[0007] 2. The installation position of the encoder on the joint module is difficult to adjust and has poor adaptability.

[0008] Utility Model Content

[0009] In view of the defects in the prior art, the purpose of the present invention is to provide an encoder structure for a joint module and a joint module.

[0010] According to the utility model, an encoder structure for a joint module is provided, which includes an output-end measuring code disk, an input-end measuring code disk and an encoder circuit board; the output-end measuring code disk is installed on a hollow shaft and rotates synchronously with the hollow shaft, the input-end measuring code disk is installed on the rotor of the motor and rotates synchronously with the rotor of the motor, the encoder circuit board is arranged between the output-end measuring code disk and the input-end measuring code disk, and an output-end measuring encoder reader is provided on the side of the encoder circuit board close to the output-end measuring code disk, and an input-end measuring encoder reader is provided on the side of the encoder circuit board close to the input-end measuring code disk.

[0011] Preferably, the middle part of the output-end measuring code disk is fixedly connected or integrally formed with a threaded connecting sleeve, and one end of the hollow shaft on which the output-end measuring code disk is installed is provided with a threaded connecting section, and the threaded connecting sleeve is threadedly connected to the threaded connecting section; or, the middle part of the output-end measuring code disk is fixedly connected or integrally formed with a connecting sleeve, and the connecting sleeve is pressed into the hollow shaft using an interference fit.

[0012] Preferably, an encoder fixing base is further included, and the encoder circuit board is fixedly connected to the encoder fixing base via fasteners.

[0013] Preferably, a gasket is provided between the encoder circuit board and the encoder fixing base, and the fastener fastens and connects the encoder circuit board, the gasket and the encoder fixing base which are arranged in sequence.

[0014] Preferably, the encoder fixing base is annular, the annular inner wall of the encoder fixing base has a mounting portion extending toward the annular center of the encoder fixing base, and the encoder circuit board is fastened to the mounting portion of the encoder fixing base by fasteners.

[0015] Preferably, a locking sleeve is connected between the input-end measuring code disk and the rotor of the motor, one end of the locking sleeve is fixedly connected to the rotor of the motor, and the other end of the locking sleeve is fixedly connected to the input-end measuring code disk.

[0016] Preferably, the output end measuring code disk, the input end measuring code disk, the encoder circuit board, the hollow shaft, the locking sleeve and the rotor of the motor are all coaxial; the hollow shaft passes through the encoder circuit board, the input end measuring code disk, the locking sleeve and the rotor of the motor respectively, and the hollow shaft forms a fixed fit with the output point measuring code disk and the connecting sleeve.

[0017] Preferably, one end of the locking sleeve extends into the rotation gap between the rotor of the motor and the hollow shaft, and the outer wall of the locking sleeve is close to the rotor of the motor and has an interference fit therewith.

[0018] Preferably, a concave mounting groove is provided at one end of the locking sleeve where the input-end measuring code disc is mounted, and the input-end measuring code disc is embedded and mounted in the concave mounting groove.

[0019] According to a joint module provided by the present invention, it also includes a joint module housing, the rotor of the motor is rotatably installed in the joint module housing, and the encoder fixed base is fixedly installed at one axial end of the joint module housing.

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

[0021] 1. The utility model integrates the output-end measuring encoder reader and the input-end encoder reader on an encoder circuit board, and arranges the output-end measuring code disk, the encoder circuit board and the input-end measuring code disk in sequence along the axial direction of the hollow shaft, which helps to improve the overall integration of the encoder structure, helps to save the installation space of the encoder structure, and thus helps to improve space utilization.

[0022] 2. The utility model realizes breath adjustment between the input-end measuring code disk and the input-end measuring encoder reader on the encoder circuit board, and breath adjustment between the output-end measuring code disk and the output-end measuring encoder reader on the encoder circuit board by threaded cooperation between the threaded connection sleeve and the threaded connection section and by setting a gasket between the mounting portion and the input-end measuring code disk, which helps to improve the applicability of the encoder.

[0023] 3. The utility model arranges the output end measuring code disk and the encoder circuit board in the annular space of the encoder fixed base, and arranges the input end measuring code disk in the concave mounting groove of the locking sleeve, which helps to improve the axial space utilization of the encoder structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Other features, objects and advantages of the present invention will become more apparent from the detailed description of the non-limiting embodiments with reference to the following drawings:

[0025] Figure 1 is a cross-sectional view of the encoder structure of the present invention;

[0026] Figure 2 is a schematic diagram of the overall structure of the encoder fixing base of the present invention;

[0027] FIG3 is a schematic diagram of the installation structure of the input end measurement code disk and the locking sleeve of the present invention;

[0028] FIG4 is a schematic diagram showing the overall structure of the joint module of the present invention.

[0029] As shown in the figure:

[0030] Joint module housing 1 Encoder fixing base 6

[0031] Output end measurement code disc 2 mounting portion 61

[0032] Threaded connection sleeve 21 Locking sleeve 7

[0033] Input end measuring code disc 3 recessed mounting slot 71

[0034] Encoder circuit board 4 Hollow shaft 8

[0035] Rotor 5 threaded connection section 81 DETAILED DESCRIPTION

[0036] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art further understand the present invention, but are not intended to limit the present invention in any way. It should be noted that a person skilled in the art may make various variations and improvements without departing from the scope of the present invention. Such variations and improvements are all within the scope of protection of the present invention.

[0037] As shown in Figure 1, an encoder structure for a joint module according to the present invention includes an output measuring code disc 2, an input measuring code disc 3, and an encoder circuit board 4. The output measuring code disc 2 is mounted on a hollow shaft 8 and rotates synchronously with the hollow shaft 8, the input measuring code disc 3 is mounted on a motor rotor 5 and rotates synchronously with the motor rotor 5, and the encoder circuit board 4 is arranged between the output measuring code disc 2 and the input measuring code disc 3. The output measuring encoder reader is provided on the side of the encoder circuit board 4 close to the output measuring code disc 2, and the input measuring encoder reader is provided on the side of the encoder circuit board 4 close to the input measuring code disc 3.

[0038] By integrating the output-end measuring encoder reader and the input-end measuring encoder reader on the same encoder circuit board 4, the circuit structure is simplified, and the output-end measuring code disk 2, the encoder circuit board 4 and the input-end measuring code disk 3 are arranged in sequence along the axial direction of the hollow shaft 8, thereby improving the overall integration of the encoder structure and saving the installation space of the encoder structure.

[0039] Specifically, the output-end measuring code disk 2, the input-end measuring code disk 3, and the encoder circuit board 4 are all in the shape of a disc, the hollow shaft 8 is a hollow cylinder, the middle part of the output-end measuring code disk 2 is fixedly connected or integrally formed with a threaded connection sleeve 21, and one end of the hollow shaft 8 on which the output-end measuring code disk 2 is mounted is provided with a threaded connection section 81, the threaded connection section 81 is arranged on the outer surface of the hollow shaft 8 along the axial direction of the hollow shaft 8, and the threaded connection sleeve 21 is threadedly connected to the threaded connection section 81. The present application proposes a feasible implementation method as follows: the hollow cylindrical threaded connection sleeve 21 is coaxially connected to the middle part of the output-end measuring code disk 2 by curing glue, and then the threaded connection sleeve 21 is threadedly connected to the threaded connection section 81 on the outer surface of the hollow shaft 8 to achieve the installation of the output-end measuring code disk 2 on the hollow shaft 8 and synchronous rotation with the hollow shaft 8. With the help of threaded matching, the output-end measuring code disk 2 can be adjusted in position along the axial direction of the hollow shaft 8 within the length range of the threaded connection section 81.

[0040] The present application also proposes a feasible solution for mounting the output-end measuring code disc 2 on the hollow shaft 8 and rotating synchronously with the hollow shaft 8: a connecting sleeve is fixedly connected or integrally formed in the middle of the output-end measuring code disc 2. The connecting sleeve may not be provided with threads, and the connecting sleeve may be pressed into the hollow shaft 8 by means of interference fit. The pressing depth of the connecting sleeve on the hollow shaft 8 can also be adjusted by means of interference fit, thereby adjusting the position along the axial direction of the hollow shaft 8.

[0041] As shown in Figures 1 and 2, more specifically, it also includes an encoder fixing base 6, which is in a circular ring shape. The inner ring diameter of the encoder fixing base 6 is larger than the outer ring diameter of the output end measuring code disk 2, and the inner ring diameter of the encoder fixing base 6 is larger than the outer ring diameter of the encoder circuit board 4.

[0042] The encoder circuit board 4 is fixedly connected to the encoder fixed base 6 via fasteners. A mounting portion 61 extends from the annular inner wall of the encoder fixed base 6 toward the center of the annular portion. The encoder circuit board 4 is fastened to the mounting portion 61 of the encoder fixed base 6 via fasteners. A gasket is provided between the encoder circuit board 4 and the encoder fixed base 6. The fasteners securely connect the encoder circuit board 4, the gasket, and the encoder fixed base 6, which are arranged in that order.

[0043] The present application proposes a feasible installation method of the encoder circuit board 4 and the encoder fixed base 6: three mounting parts 61 are formed on the annular inner wall of the encoder fixed base 6 at equal intervals along the circumference of the annular inner wall, and the three mounting parts 61 are located in the same plane. The encoder circuit board 4 is placed in the annular space of the encoder fixed base 6, and the encoder circuit board 4 is fixedly connected to the three mounting parts 61 respectively by fasteners commonly used in the prior art such as bolts, screws or nuts, and the position of the encoder circuit board 4 can be adjusted by increasing or decreasing the number of gaskets between the encoder circuit board 4 and the mounting parts 61.

[0044] As shown in Figures 1 and 3, more specifically, a locking sleeve 7 is connected between the input-end measuring code disk 3 and the rotor 5 of the motor. The rotor 5 of the motor is cylindrical, and the locking sleeve 7 is also cylindrical. The diameter of one axial end of the locking sleeve 7 is larger than the diameter of the other axial end of the locking sleeve 7. The end with a smaller diameter of the locking sleeve 7 is fixedly connected to the rotor 5 of the motor, and the end with a larger diameter of the locking sleeve 7 is fixedly connected to the input-end measuring code disk 3.

[0045] Furthermore, the output-end measuring code disc 2, the input-end measuring code disc 3, the encoder circuit board 4, the hollow shaft 8, the locking sleeve 7, and the motor rotor 5 are all coaxial. The hollow shaft 8 passes through the encoder circuit board 4, the input-end measuring code disc 3, the locking sleeve 7, and the motor rotor 5, respectively, and is coaxial with all four. The output-end measuring code disc 2, the encoder circuit board 4, and the input-end measuring code disc 3 are installed sequentially along the axial direction of the hollow shaft 8. The smaller diameter end of the locking sleeve 7 extends into the rotational gap between the motor rotor 5 and the hollow shaft 8. The outer wall of the smaller diameter end of the locking sleeve 7 is close to the motor rotor 5 and has an interference fit therewith. The inner wall of the smaller diameter end of the locking sleeve 7 is close to the hollow shaft 8 without any connection or interference.

[0046] Furthermore, the end of the locking sleeve 7 with a larger diameter extends out of the motor's rotor 5 and is adjacent to the encoder circuit board 4. The end of the locking sleeve 7 extending out of the motor's rotor 5 serves as a mounting base for the input-end measuring code disk 3. A recessed mounting groove 71 is provided at the end of the locking sleeve 7 extending out of the motor's rotor 5. The input-end measuring code disk 3 is embedded and mounted within the recessed mounting groove 71. The input-end measuring code disk 3 can be fastened to the locking sleeve 7 using glue or fasteners. Embedding the input-end measuring code disk 3 within the recessed mounting groove 71 of the locking sleeve 7 can reduce the axial dimension of the mounting structure and improve space utilization.

[0047] It should be further explained that the input-end measuring code disk 3 is mounted on the motor's rotor 5 via a locking sleeve 7 and can move synchronously with the motor's rotor 5. The input-end measuring code disk 3 cannot be adjusted in the axial direction of the hollow shaft 8. Since the gasket between the encoder circuit board 4 and the encoder fixed base 6 is located between the encoder circuit board 4 and the input-end measuring code disk 3, the gap between the input-end measuring code disk 3 and the encoder circuit board 4 along the axial direction of the hollow shaft 8 can be adjusted by increasing or decreasing the number of gaskets. Furthermore, with the help of threaded engagement, the output-end measuring code disk 2 can be adjusted in the axial direction of the hollow shaft 8 within the length of the threaded connection section 81, thereby adjusting the gap between the output-end measuring code disk 2 and the encoder circuit board 4 along the axial direction of the hollow shaft 8 within the design range.

[0048] It should also be further explained that after the encoder structure is installed in place, the output end measuring code disk 2 and the encoder circuit board 4 are both located in the annular space of the encoder fixed base 6, and the input end measuring code disk 3 is located in the recessed mounting groove 71 of the locking sleeve 7, thereby improving the integration of the overall structure, thereby reducing the structural size and increasing the axial space utilization.

[0049] The present utility model also provides a joint module, as shown in Figures 1 and 4, which also includes a joint module housing 1, the rotor 5 of the motor is rotatably installed in the joint module housing 1, the motor body is fixedly installed in the joint module housing 1, and the encoder fixed base 6 is fixedly installed at one axial end of the joint module housing 1. Both the joint module housing 1 and the encoder fixed base 6 have a certain structural strength and can serve as an installation basis.

[0050] How it works

[0051] By increasing or decreasing the number of gaskets, the gap between the input-end measuring code disk 3 and the encoder circuit board 4 along the axial direction of the hollow shaft 8 can be adjusted. With the help of the threaded fit or interference fit between the threaded connection sleeve 21 and the threaded connection section 81, the output-end measuring code disk 2 can be adjusted in position along the axial direction of the hollow shaft 8 within the length of the threaded connection section 81, and thus the gap between the output-end measuring code disk 2 and the encoder circuit board 4 along the axial direction of the hollow shaft 8 can be adjusted within the design range. The structure is compact and the space utilization rate is high.

[0052] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and 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, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0053] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. An encoder structure for a joint module, characterized in that: It comprises an output-end measuring code disc (2), an input-end measuring code disc (3), and an encoder circuit board (4); The output-end measuring code disk (2) is mounted on the hollow shaft (8) and rotates synchronously with the hollow shaft (8); the input-end measuring code disk (3) is mounted on the rotor (5) of the motor and rotates synchronously with the rotor (5) of the motor; the encoder circuit board (4) is arranged between the output-end measuring code disk (2) and the input-end measuring code disk (3); an output-end measuring encoder reader is arranged on a side of the encoder circuit board (4) close to the output-end measuring code disk (2); and an input-end measuring encoder reader is arranged on a side of the encoder circuit board (4) close to the input-end measuring code disk (3).

2. The encoder structure for the joint module according to claim 1, characterized in that: A threaded connection sleeve (21) is fixedly connected or integrally formed in the middle of the output end measuring code disc (2), and one end of the hollow shaft (8) on which the output end measuring code disc (2) is mounted is provided with a threaded connection section (81), and the threaded connection sleeve (21) is threadedly connected to the threaded connection section (81); Alternatively, a connecting sleeve is fixedly connected to or integrally formed in the middle of the output end measuring code disc (2), and the connecting sleeve is pressed into the hollow shaft (8) in an interference fit manner.

3. The encoder structure for the joint module according to claim 1, characterized in that: It also includes an encoder fixing base (6), and the encoder circuit board (4) is fixedly connected to the encoder fixing base (6) via fasteners.

4. The encoder structure for the joint module according to claim 3, characterized in that: A gasket is provided between the encoder circuit board (4) and the encoder fixed base (6), and the fastener fastens and connects the encoder circuit board (4), the gasket, and the encoder fixed base (6) which are arranged in sequence.

5. The encoder structure for the joint module according to claim 3, characterized in that: The encoder fixing base (6) is annular, and a mounting portion (61) is extended from the annular inner wall of the encoder fixing base (6) toward the annular center of the encoder fixing base (6). The encoder circuit board (4) is fastened to the mounting portion (61) of the encoder fixing base (6) via a fastener.

6. The encoder structure for a joint module according to claim 1, characterized in that: A locking sleeve (7) is connected between the input-end measuring code disk (3) and the rotor (5) of the motor; one end of the locking sleeve (7) is fixedly connected to the rotor (5) of the motor, and the other end of the locking sleeve (7) is fixedly connected to the input-end measuring code disk (3).

7. The encoder structure for a joint module according to claim 6, characterized in that: The output end measuring code disk (2), the input end measuring code disk (3), the encoder circuit board (4), the hollow shaft (8), the locking sleeve (7) and the rotor (5) of the motor are all coaxial; The hollow shaft (8) passes through the encoder circuit board (4), the input end measuring code disk (3), the locking sleeve (7) and the rotor (5) of the motor respectively, and the hollow shaft (8) forms a fixed fit with the output point measuring code disk (2) and the connecting sleeve (21).

8. The encoder structure for a joint module according to claim 7, characterized in that: One end of the locking sleeve (7) extends into the rotation gap between the motor rotor (5) and the hollow shaft (8), and the outer wall of the locking sleeve (7) is close to the motor rotor (5) and has an interference fit therewith.

9. The encoder structure for a joint module according to claim 6, characterized in that: One end of the locking sleeve (7) for mounting the input-end measuring code disc (3) is provided with a recessed mounting groove (71), and the input-end measuring code disc (3) is embedded and mounted in the recessed mounting groove (71).

10. A joint module, characterized in that: The encoder structure for the joint module according to any one of claims 1 to 9 also includes a joint module housing (1), the rotor (5) of the motor is rotatably installed in the joint module housing (1), and the encoder fixed base (6) is fixedly installed at one axial end of the joint module housing (1).

Images