CN113799169A - Double-encoder joint module - Google Patents
Double-encoder joint module Download PDFInfo
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- CN113799169A CN113799169A CN202111231600.5A CN202111231600A CN113799169A CN 113799169 A CN113799169 A CN 113799169A CN 202111231600 A CN202111231600 A CN 202111231600A CN 113799169 A CN113799169 A CN 113799169A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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Abstract
The invention discloses a double-encoder joint module, which comprises a motor, a speed reducer, a torque output flange, a motor encoder and a speed reducer encoder, wherein the motor encoder is connected with the speed reducer; the motor output shaft is arranged in the motor shell in a rotating mode around the axis of the motor output shaft, and the motor output shaft is of a hollow structure; the output shaft of the speed reducer is of a hollow structure; the speed reducer is arranged on the end wall of one side of the motor shell; one end of the motor output shaft, which is close to the speed reducer, penetrates out of the motor shell and is fixedly connected with the input end of the speed reducer, one end of the motor output shaft, which is far away from the speed reducer, is connected with a motor encoder, and the motor encoder is used for converting the angular displacement of the motor output shaft into an electric signal; the torque output flange is fixedly connected with the output end of the speed reducer; the speed reducer output shaft rotates concentrically inside the motor output shaft, one end of the speed reducer output shaft is fixedly connected with the torque output flange, the other end of the speed reducer output shaft penetrates out of the motor output shaft and is connected with a speed reducer encoder, and the speed reducer encoder is used for converting an electric signal according to the angular displacement of the speed reducer output shaft.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a double-encoder joint module.
Background
With the rapid development of industrial automation technology, the robot is more and more emphasized and widely applied as an important industrial automation device. In the related art of robots, control of moving parts such as robot joints is the most important and critical. In the robot joint module in the prior art, a single encoder is used for outputting a corresponding electric signal according to the angular displacement of a motor output shaft so as to monitor and control the operation of the joint module. However, the problem exists that a single absolute value encoder needs to be externally connected with a battery to record the zero position of the output shaft of the motor, so that the structure of the joint module is complicated, the joint module is large in size and heavy in weight, the maintenance is difficult due to excessive parts, a single incremental encoder needs to be externally connected with a zero switch, a servo system needs to find the action step of zero, and the use of the robot is limited to a certain extent.
Disclosure of Invention
The invention aims to provide a double-encoder joint module to solve the technical problems that a single absolute value encoder needs to be externally connected with a battery to record the zero position of an output shaft of a motor, the structure of the joint module is complicated, the joint module is large in size and heavy in weight, maintenance is difficult due to excessive parts, a single incremental encoder needs to be externally connected with a zero switch, a servo system needs to find the zero position, and the use of a robot is limited to a certain extent.
In order to achieve the purpose, the invention adopts the following technical scheme: a double-encoder joint module comprises a motor, a speed reducer, a torque output flange, a motor encoder and a speed reducer encoder; the motor comprises a motor shell and a motor output shaft for outputting torque, the motor output shaft is rotatably arranged in the motor shell around the axis of the motor output shaft, and the motor output shaft is of a hollow structure; the speed reducer comprises a speed reducer input end, a speed reducer output end and a speed reducer output shaft, and the speed reducer output shaft is of a hollow structure; the speed reducer is arranged on the end wall of one side of the motor shell; one end of the motor output shaft, which is close to the speed reducer, penetrates out of the motor shell and is fixedly connected with the input end of the speed reducer, one end of the motor output shaft, which is far away from the speed reducer, is connected with a motor encoder, and the motor encoder is used for converting an electric signal according to the angular displacement of the motor output shaft; the torque output flange is fixedly connected with the output end of the speed reducer; the speed reducer output shaft is concentrically and rotatably arranged inside the motor output shaft, one end of the speed reducer output shaft is fixedly connected with the torque output flange, the other end of the speed reducer output shaft penetrates out of the motor output shaft and is connected with the speed reducer encoder, and the speed reducer encoder is used for converting an angular displacement of the speed reducer output shaft into an electric signal.
As an alternative embodiment, the motor casing comprises a main casing, a partition plate and a cover body; the main shell is provided with a motor stator and rotor installation cavity which is used for installing a stator and a rotor of a motor; the cover body is provided with an encoder installation cavity, and the motor encoder and the speed reducer encoder are respectively arranged in the encoder installation cavity; the lid is established main casing body is kept away from the one end of speed reducer, just the accent of motor stator rotor installation cavity with the accent of encoder installation cavity meets, the baffle sets up motor stator rotor installation cavity with between the encoder installation cavity, the lid with the connection can be dismantled to the baffle, the baffle with the connection can be dismantled to main casing body.
As an optional embodiment, a shielding case is arranged inside the encoder installation cavity, the motor encoder is arranged inside the shielding case, and the reducer encoder is arranged outside the shielding case.
As an optional embodiment, the motor encoder comprises a motor encoding PCB and a first encoding magnet, the speed reducer encoder comprises a speed reducer encoding PCB and a second encoding magnet, and the first encoding magnet is fixedly sleeved on the periphery of the motor output shaft and rotates synchronously with the motor output shaft; the motor coding PCB is used for converting the angular displacement of the first coding magnet into an electric signal, and the second coding magnet is fixedly sleeved on the periphery of the output shaft of the speed reducer and synchronously rotates with the output shaft of the speed reducer; the speed reducer coding PCB is used for converting the angular displacement of the second coding magnet into an electric signal.
As an optional embodiment, the speed reducer further comprises a motor driver, and the motor driver is integrated with the speed reducer coding PCB.
As an optional embodiment, a first connecting stud is arranged between the cover body and the partition plate, a second connecting stud is arranged between the partition plate and the main casing, a head of the first connecting stud abuts against an outer end face of the cover body, a threaded portion of the first connecting stud sequentially penetrates through the cover body and the speed reducer coding PCB and then is in threaded connection with the partition plate, and a threaded portion of the second connecting stud penetrates through the partition plate and then is in threaded connection with the main casing.
As an optional embodiment, the partition plate is provided with a first fixed bearing, one end of the motor output shaft close to the cover body is provided with a first end cover, the first end cover is fixedly connected with the motor output shaft, the motor output shaft is fixedly connected with the first fixed bearing, and the first encoding magnet is fixedly sleeved on the periphery of the first end cover;
the cover body is provided with a second fixed bearing, one end of the output shaft of the speed reducer, which is close to the cover body, is provided with a second end cover, the second end cover is fixedly connected with the shaft fixed bearing, and the second coding magnet is fixedly sleeved on the periphery of the second end cover.
As an alternative embodiment, the outer end face of the cover body is provided with a pressure line cover.
One of the above technical solutions has the following advantages or beneficial effects:
in the embodiment of the invention, when the motor drives the motor output shaft to rotate, the motor output shaft drives the reducer output shaft to rotate by driving the torque output flange to rotate, the motor encoder converts an electrical signal according to the angular displacement of the motor output shaft, and the reducer encoder converts the electrical signal according to the angular displacement of the reducer output shaft. When the motor is restarted after power failure, the absolute position of the output shaft of the speed reducer and the reduction ratio of the speed reducer can be converted into a multi-turn value of the motor encoder, so that the zero position of the output shaft of the motor is determined.
Therefore, compared with a single absolute value encoder, the embodiment of the invention adopting the double encoders can obtain the zero position of the output shaft of the motor when the motor starts, and the problem that the zero position of the encoder is lost due to the fact that the battery is not electrified is not needed to be worried about, so that the space of the external battery of the encoder can be saved, and the occupied space of the joint module is reduced. Compared with a single incremental encoder, the embodiment of the invention adopting double encoders can obtain the zero position of the output shaft of the motor when the motor starts, and does not need an external zero switch, thereby saving the action step of finding the zero point by a switch servo system.
It is worth explaining that the motor output shaft and the reducer output shaft are hollow shafts, and the reducer output shaft is rotatably arranged in the motor output shaft in a penetrating mode, so that overlapping is achieved, and the space of the joint module is effectively reduced. Furthermore, the joint module can be arranged in the output shaft of the speed reducer, the space of the joint module is reasonably utilized, the space of the joint module reserved in the joint module is saved, the size of the joint module is further reduced, and the problem of the trouble of rotating a stranded wire can be effectively avoided.
Drawings
FIG. 1 is a schematic cross-sectional view of one embodiment of the present invention;
FIG. 2 is a schematic structural diagram of one embodiment of the present invention;
in the drawings: 100-motor, 110-motor shell, 111-main shell, 1111-motor stator and rotor installation cavity, 112-clapboard, 1121-first fixed bearing, 113-cover body, 1131-encoder installation cavity, 1132-shield cover, 1133-second fixed bearing, 1134-wire pressing cover, 114-first connecting stud, 115-second connecting stud, 120-motor output shaft, 121-first end cover, 200-speed reducer, 210-speed reducer output shaft, 211-second end cover, 300-torque output flange, 400-motor encoder, 410-motor encoding PCB, 420-first encoding magnet, 500-speed reducer encoder, 510-speed reducer encoding PCB, 520-second encoding magnet and 600-motor driver.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial.
With reference to fig. 1 to fig. 2, a dual-encoder joint module according to an embodiment of the present invention is described below, including a motor 100, a speed reducer 200, a torque output flange 300, a motor encoder 400, and a speed reducer encoder 500; the motor 100 comprises a motor casing 110 and a motor output shaft 120 for outputting torque, the motor output shaft 120 is rotatably arranged inside the motor casing 110 around the axis thereof, and the motor output shaft 120 is of a hollow structure; the speed reducer 200 comprises a speed reducer input end, a speed reducer output end and a speed reducer output shaft 210, wherein the speed reducer output shaft 210 is of a hollow structure; the speed reducer 200 is arranged on one side end wall of the motor casing 110; one end of the motor output shaft 120, which is close to the speed reducer 200, penetrates through the motor casing 110 and is fixedly connected with the input end of the speed reducer, one end of the motor output shaft 120, which is far away from the speed reducer 200, is connected with a motor encoder 400, and the motor encoder 400 is used for converting an angular displacement of the motor output shaft 120 into an electrical signal; the torque output flange 300 is fixedly connected with the output end of the speed reducer;
the reducer output shaft 210 is concentrically and rotatably disposed inside the motor output shaft 120, one end of the reducer output shaft 210 is fixedly connected to the torque output flange 300, the other end of the reducer output shaft 210 penetrates through the motor output shaft 120 and is connected to the reducer encoder 500, and the reducer encoder 500 is configured to convert an electrical signal according to an angular displacement of the reducer output shaft 210. Specifically, in a preferred embodiment of the present invention, as shown in fig. 1, the reducer 200 is a harmonic drive reducer, the wave generator and the flexible gear form an input end of the reducer, and the motor output shaft 120 is fixedly connected to the wave generator and the flexible gear. The output flange of the harmonic speed reducer is used as an output end, and the output flange of the harmonic speed reducer is fixedly connected with the torque output flange 300.
In the embodiment of the present invention, when the motor 100 drives the motor output shaft 120 to rotate, the motor output shaft 120 drives the reducer output shaft 210 to rotate while driving the torque output flange 300 to rotate, the motor encoder 400 converts the angular displacement of the motor output shaft 120 into an electrical signal, and the reducer encoder 500 converts the angular displacement of the reducer output shaft 210 into an electrical signal. When the motor is restarted after power failure, the absolute position of the reducer output shaft 210 and the reduction ratio of the reducer 200 can be converted into the multi-turn value of the motor encoder 400, so that the zero position of the motor output shaft 120 is determined.
Specifically, in one embodiment of the present invention, the reduction ratio of the speed reducer 200 is 1:100, the number of bits of the motor encoder 400 and the speed reducer encoder 500 is 16, the motor output shaft 120 rotates 1 revolution, and the motor encoder 400 outputs 65536 pulses. The output end of the speed reducer rotates for 1 circle, which is equivalent to 1 circle of the output shaft 210 of the speed reducer, the output shaft 120 of the motor needs to rotate for 100 circles, the motor encoder 400 outputs 65563600 pulses, and the speed reducer encoder 500 outputs 65536 pulses. Therefore, if the speed reducer encoder 500 detects that the absolute angular displacement of the speed reducer output shaft 210 is 90 ° during power outage, the number of output pulses of the speed reducer encoder 500 is 16384, the number of output pulses of the motor encoder 400 is 1638400, and the zero point position of the motor output shaft 120 can be known by calculating 25 rotations of the motor output shaft 120 by reverse thrust.
Thus, compared with a single absolute value encoder, the embodiment of the invention adopting the double encoders can obtain the zero position of the motor output shaft 120 when the motor 100 starts to start, and the problem that the zero position of the encoder is lost due to the fact that the battery is not powered is not needed to be worried about, so that the space of the external battery of the encoder can be saved, and the occupied space of the joint module is reduced. Compared with a single incremental encoder, the embodiment of the invention adopting double encoders can obtain the zero position of the motor output shaft 120 when the motor 100 starts, and an external zero switch is not needed, so that the action step of finding the zero point by a switch servo system is omitted.
It should be noted that the motor output shaft 120 and the reducer output shaft 210 are hollow shafts, and the reducer output shaft 210 is rotatably inserted into the motor output shaft 120, so as to realize overlapping, and effectively reduce the space of the joint module. Furthermore, the joint module can be arranged in the output shaft 210 of the speed reducer, the space of the joint module is reasonably utilized, the reserved wiring space of the joint module is saved, the size of the joint module is further reduced, and the problem of the trouble of rotating a stranded wire can be effectively avoided.
In an alternative embodiment, the motor casing 110 includes a main casing 111, a partition 112, and a cover 113; the main housing 111 is provided with a motor stator and rotor mounting cavity 1111, and the motor stator and rotor mounting cavity 1111 is used for mounting a stator and a rotor of the motor 100; the cover 113 is provided with an encoder installation cavity 1131, and the motor encoder 400 and the reducer encoder 500 are respectively arranged inside the encoder installation cavity 1131; lid 113 lid is established main casing body 111 is kept away from the one end of speed reducer 200, just the accent of motor stator rotor installation cavity 1111 with the accent of encoder installation cavity 1131 meets, baffle 112 sets up motor stator rotor installation cavity 1111 with between the encoder installation cavity 1131, lid 113 with the connection can be dismantled to baffle 112, baffle 112 with main casing body 111 can dismantle the connection. Specifically, as shown in the embodiment of fig. 1, when assembling the components inside the motor casing 110, the stator and the rotor of the motor 100 are first installed in the motor stator and rotor installation cavity 1111 of the main casing 111, and the motor output shaft 120 is fixedly connected to the rotor of the motor 100. Then, the partition plate 112 is detachably connected to the main housing 111, so that the partition plate 112 covers the motor stator and rotor mounting cavity 1111, and the partition plate 112 is provided with a first avoiding hole for the motor output shaft 120 to penetrate through the motor stator and rotor mounting cavity 1111. The part of the motor output shaft 120 penetrating through the motor stator and rotor mounting cavity 1111 is connected with the motor encoder 400. Then, the reducer output shaft 210 penetrates out of the motor output shaft 120 and is connected with the reducer encoder 500, so that the assembly of the internal parts of the motor casing 110 is completed, and finally, the cover body 113 and the partition plate 112 are detachably connected, so that the reducer encoder 500 and the motor encoder 400 are located inside the encoder installation cavity 1131, and the motor casing has the advantage of convenience in assembly. It should be noted that, when the cover 113 and the partition 112, and the partition 112 and the main housing 111 are detachably connected, the assembly and disassembly are convenient, and the motor casing 110 can be opened to replace and maintain the motor encoder 400 and the reducer encoder 500.
In an optional embodiment, a shielding case 1132 is disposed inside the encoder installation cavity 1131, the motor encoder 400 is disposed inside the shielding case 1132, and the reducer encoder 500 is disposed outside the shielding case 1132. So, through setting up motor encoder 400 in the inside of shield 1132, set up speed reducer encoder 500 the outside of shield 1132 realizes separating speed reducer encoder 500 and motor encoder 400 in encoder installation cavity 1131 to avoid speed reducer encoder 500 and motor encoder 400 mutual interference, and influence signal output, improve the detection accuracy of encoder.
In an alternative embodiment, the motor encoder 400 includes a motor encoding PCB410 and a first encoding magnet 420, the reducer encoder 500 includes a reducer encoding PCB510 and a second encoding magnet 520, and the first encoding magnet 420 is fixedly sleeved on the outer circumference of the motor output shaft 120 and rotates synchronously with the motor output shaft 120; the motor encoding PCB410 is used for converting an angular displacement of the first encoding magnet 420 into an electrical signal, and the second encoding magnet 520 is fixedly sleeved on the periphery of the reducer output shaft 210 and rotates synchronously with the reducer output shaft 210; the speed reducer code PCB510 is used for converting the angular displacement of the second code magnet 520 into an electrical signal. In this embodiment, through the periphery of locating motor output shaft 120 with the fixed cover of first code magnet 420, the fixed cover of second code magnet 520 is located the periphery of motor output shaft 120, effectively avoids increasing the thickness of first code magnet 420 and the thickness of second code magnet 520 in the length direction of motor output shaft 120, does benefit to the occupation space that reduces two encoder joint modules. Specifically, the motor encoding PCB410 and the speed reducer 200PCB are respectively provided with a second avoiding hole, the first encoding magnet 420 is rotatably disposed in the second avoiding hole of the motor 100PCB, and the second encoding magnet 520 is rotatably disposed in the second avoiding hole of the speed reducer 200 PCB. Of course, in other embodiments, the first and second code magnets 420, 520 may be replaced with code wheels.
In an optional embodiment, the speed reducer further comprises a motor driver 600, and the motor driver 600 is integrated with the speed reducer code PCB 510. So, through integrated on speed reducer code PCB510 with motor driver 600 to do benefit to motor driver 600 and acquire the signal of telecommunication that speed reducer encoder 500 gathered and then control motor 100 and operate, make motor driver 600 and speed reducer encoder 500 need not the signal line and be connected, the integrated level is high, convenient equipment.
In an optional embodiment, a first connecting stud 114 is disposed between the cover 113 and the partition 112, a second connecting stud 115 is disposed between the partition 112 and the main housing 111, a head of the first connecting stud 114 abuts against an outer end surface of the cover 113, a threaded portion of the first connecting stud 114 sequentially penetrates through the cover 113 and the speed reducer coding PCB510 to be in threaded connection with the partition 112, and a threaded portion of the second connecting stud 115 penetrates through the partition 112 to be in threaded connection with the main housing 111. The partition plate 112 is fixedly connected with the main shell 111, and the partition plate 112 is convenient to detach for maintenance of the stator and the rotor of the motor 100. In the embodiment shown in fig. 1, the threaded portion of the first connecting stud 114 penetrates through the cover 113 and the speed reducer code PCB510 and then is in threaded connection with the partition 112, so that the cover 113 and the partition 112 can be detachably connected, the cover 113 can be detached to install and replace the motor encoder 400 and the speed reducer encoder 500, the speed reducer code PCB510 can be limited, and the speed reducer code PCB510 is effectively prevented from shifting.
In an alternative embodiment, the partition 112 is provided with a first fixed bearing 1121, one end of the motor output shaft 120 close to the cover 113 is provided with a first end cap 121, the first end cap 121 is fixedly connected to the motor output shaft 120, the motor output shaft 120 is fixedly connected to the first fixed bearing 1121, and the first encoder magnet 420 is fixedly sleeved on the periphery of the first end cap 121; the cover body 113 is provided with a second fixing bearing 1133, one end of the reducer output shaft 210, which is close to the cover body 113, is provided with a second end cover 211, the second end cover 211 is fixedly connected with the shaft fixing bearing, and the second encoding magnet 520 is fixedly sleeved on the periphery of the second end cover 211. In this embodiment, the output flange is fixedly connected to one end of the reducer output shaft 210, and the cover 113 fixes the other end of the reducer output shaft 210 through the second fixing bearing 1133, so that the reducer output shaft 210 is fixed to both ends, and the reducer output shaft 210 can stably rotate inside the motor output shaft 120 without interfering with each other. It should be noted that the first encoding magnet 420 is fixedly sleeved on the outer circumference of the motor output shaft 120 by the first end cap 121, and rotates synchronously with the motor output shaft 120. The second end cover 211 is used for fixing the second coded magnet 520 on the periphery of the output shaft 210 of the speed reducer in a fixed way and rotating synchronously with the output shaft 210 of the speed reducer. Thereby avoiding first coded magnet 420 directly fixed in on motor output shaft 120, second encoder vocabulary entry directly fixed in on speed reducer output shaft 210 to do benefit to and dismantle the change to first coded magnet 420 and second coded magnet 520.
In an alternative embodiment, the cover 113 is provided with a crimping cap 1134 on its outer surface. Set up line ball lid 1134 through the outer terminal surface at lid 113 and push down the circuit, make the outer terminal surface that external circuit pasted tight lid 113 penetrate the inside of encoder installation cavity 1131 and supply power or signal transmission, effectively solve the mixed and disorderly problem of circuit.
Other configurations and operations of a dual encoder joint module according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.
In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (8)
1. The utility model provides a two encoder joint modules which characterized in that: the torque-transmitting mechanism comprises a motor, a speed reducer, a torque output flange, a motor encoder and a speed reducer encoder;
the motor comprises a motor shell and a motor output shaft for outputting torque, the motor output shaft is rotatably arranged in the motor shell around the axis of the motor output shaft, and the motor output shaft is of a hollow structure;
the speed reducer comprises a speed reducer input end, a speed reducer output end and a speed reducer output shaft, and the speed reducer output shaft is of a hollow structure;
the speed reducer is arranged on the end wall of one side of the motor shell;
one end of the motor output shaft, which is close to the speed reducer, penetrates out of the motor shell and is fixedly connected with the input end of the speed reducer, one end of the motor output shaft, which is far away from the speed reducer, is connected with a motor encoder, and the motor encoder is used for converting an electric signal according to the angular displacement of the motor output shaft;
the torque output flange is fixedly connected with the output end of the speed reducer;
the speed reducer output shaft is concentrically and rotatably arranged inside the motor output shaft, one end of the speed reducer output shaft is fixedly connected with the torque output flange, the other end of the speed reducer output shaft penetrates out of the motor output shaft and is connected with the speed reducer encoder, and the speed reducer encoder is used for converting an angular displacement of the speed reducer output shaft into an electric signal.
2. The dual encoder joint module of claim 1, wherein: the motor shell comprises a main shell, a partition plate and a cover body;
the main shell is provided with a motor stator and rotor installation cavity which is used for installing a stator and a rotor of a motor;
the cover body is provided with an encoder installation cavity, and the motor encoder and the speed reducer encoder are respectively arranged in the encoder installation cavity;
the lid is established main casing body is kept away from the one end of speed reducer, just the accent of motor stator rotor installation cavity with the accent of encoder installation cavity meets, the baffle sets up motor stator rotor installation cavity with between the encoder installation cavity, the lid with the connection can be dismantled to the baffle, the baffle with the connection can be dismantled to main casing body.
3. The dual encoder joint module of claim 2, wherein: the inside of encoder installation cavity is equipped with the shield cover, motor encoder sets up the inside of shield cover, the speed reducer encoder sets up the outside of shield cover.
4. The dual encoder joint module of claim 2, wherein: the motor encoder comprises a motor encoding PCB and a first encoding magnet, the speed reducer encoder comprises a speed reducer encoding PCB and a second encoding magnet, and the first encoding magnet is fixedly sleeved on the periphery of the motor output shaft and rotates synchronously with the motor output shaft; the motor coding PCB is used for converting the angular displacement of the first coding magnet into an electric signal, and the second coding magnet is fixedly sleeved on the periphery of the output shaft of the speed reducer and synchronously rotates with the output shaft of the speed reducer; the speed reducer coding PCB is used for converting the angular displacement of the second coding magnet into an electric signal.
5. The dual encoder joint module of claim 4, wherein: the motor driver is integrated on the speed reducer coding PCB.
6. The dual encoder joint module of claim 4, wherein: the cover body and be equipped with first connecting stud between the baffle, the baffle with be equipped with second connecting stud between the main casing body, the head of first connecting stud offset in the outer terminal surface of cover body, the screw thread portion of first connecting stud pass in proper order behind cover body and the speed reducer code PCB with baffle threaded connection, the screw thread portion of second connecting stud pass behind the baffle with main casing body threaded connection.
7. The dual encoder joint module of claim 4, wherein: the partition plate is provided with a first fixed bearing, one end of the motor output shaft close to the cover body is provided with a first end cover, the first end cover is fixedly connected with the motor output shaft, the motor output shaft is fixedly connected with the first fixed bearing, and the first coding magnet is fixedly sleeved on the periphery of the first end cover;
the cover body is provided with a second fixed bearing, one end of the output shaft of the speed reducer, which is close to the cover body, is provided with a second end cover, the second end cover is fixedly connected with the shaft fixed bearing, and the second coding magnet is fixedly sleeved on the periphery of the second end cover.
8. The dual encoder joint module of claim 2, wherein: and a wire pressing cover is arranged on the outer end face of the cover body.
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| CN202111231600.5A CN113799169A (en) | 2021-10-22 | 2021-10-22 | Double-encoder joint module |
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| CN202111231600.5A CN113799169A (en) | 2021-10-22 | 2021-10-22 | Double-encoder joint module |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114268246A (en) * | 2021-12-29 | 2022-04-01 | 苏州汇川控制技术有限公司 | Motor control method, device and system and computer readable storage medium |
| WO2023124856A1 (en) * | 2021-12-30 | 2023-07-06 | 上海非夕机器人科技有限公司 | Rotational joint and device having same |
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| KR20120105889A (en) * | 2011-03-16 | 2012-09-26 | 전자부품연구원 | Active ball socket joint apparatus with multi-degree of freedom |
| CN102632509A (en) * | 2012-04-17 | 2012-08-15 | 浙江大学 | Elastically-driven modular joint with force feedback control |
| CN204788428U (en) * | 2015-06-24 | 2015-11-18 | 上海华伍行力流体控制有限公司 | Many rings of absolute encoder of magnetic induction |
| CN107127786A (en) * | 2017-06-26 | 2017-09-05 | 遨博（北京）智能科技有限公司 | A kind of dicode disk encoder and joint of robot servo-drive system |
| CN107498580A (en) * | 2017-10-16 | 2017-12-22 | 河北工业大学 | One kind controls integral Dual-encoder structural module joint |
| CN112223341A (en) * | 2019-07-15 | 2021-01-15 | 深圳市零差云控科技有限公司 | Robot joint module |
| CN212421350U (en) * | 2020-04-10 | 2021-01-29 | 中山早稻田科技有限公司 | Double-encoder integrated joint with force sensing function |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114268246A (en) * | 2021-12-29 | 2022-04-01 | 苏州汇川控制技术有限公司 | Motor control method, device and system and computer readable storage medium |
| CN114268246B (en) * | 2021-12-29 | 2024-02-06 | 苏州汇川控制技术有限公司 | Motor control method, device, system and computer readable storage medium |
| WO2023124856A1 (en) * | 2021-12-30 | 2023-07-06 | 上海非夕机器人科技有限公司 | Rotational joint and device having same |
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Application publication date: 20211217 |