CN107449450B - Magneto-electric encoder and joint - Google Patents
Magneto-electric encoder and joint Download PDFInfo
- Publication number
- CN107449450B CN107449450B CN201710808898.9A CN201710808898A CN107449450B CN 107449450 B CN107449450 B CN 107449450B CN 201710808898 A CN201710808898 A CN 201710808898A CN 107449450 B CN107449450 B CN 107449450B
- Authority
- CN
- China
- Prior art keywords
- hole
- bracket
- magneto
- support
- round table
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000003292 glue Substances 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 9
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000010923 batch production Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 238000011031 large-scale manufacturing process Methods 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
- G01D11/30—Supports specially adapted for an instrument; Supports specially adapted for a set of instruments
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The invention discloses a magnetoelectric encoder and a joint, wherein the magnetoelectric encoder comprises a bracket, a through hole is arranged on the bracket, a stand column is arranged on one side of the bracket, the stand columns are the same in height and are perpendicular to the bracket, and a threaded hole is arranged on the stand column; the bearing outer ring is connected with the through hole on the bracket; the rotary shaft is connected with the inner ring of the bearing, a round table is arranged on one side of the rotary shaft facing the upright post, the central axis of the round table coincides with the central axis of the through hole arranged on the bracket, and a step is arranged at the edge of the round table; the code disc is in a circular ring shape and is clamped on the step and connected with the round table, and the size of the code disc is matched with that of the step; the reading head is provided with a connecting hole, and a screw penetrates through the connecting hole and is connected with a threaded hole on the corresponding upright post. The step in this technical scheme matches the setting with the code wheel, and the stand corresponds the setting with the connecting hole in the reading head, can make the user need not carry out the secondary when the installation and mark, has reduced the degree of difficulty of installation, has improved the efficiency of installation.
Description
Technical Field
The invention relates to the field of robots, in particular to a magneto-electric encoder and a joint.
Background
Magneto-electric encoders use magneto-resistive or hall elements to measure the angle or displacement of a changing magnetic material, and are commonly used in joints to detect angle and position information at the joint output. The magneto-electric encoder comprises a reading head and a code disc, the code disc generates periodically-changed space magnetic flux leakage along with the rotation of the motor, the encoding function is realized, and the reading head reads the change of the signal to measure the angle and the displacement. The relative positional relationship of the read head and the code wheel determines the accuracy and precision of the measurement, and usually, calibration, so-called calibration, of the relative positional relationship of the read head and the code wheel is required when a magneto-electric encoder is used.
In the prior art, the reading head and the code wheel of the magneto-electric encoder in the joint need to be calibrated for the second time. Namely, the manufacturer needs to perform one calibration when detecting whether the product is qualified or not, and the user needs to perform one calibration when using the magneto-electric encoder. The difficulty of installation is increased, high requirements are imposed on installers, and bottlenecks are brought to batch and large-scale production of joints.
Disclosure of Invention
The invention solves the problem of providing a simple method for installing a magneto-electric encoder in a joint, which can determine the spatial relative position relationship of a reading head and a code disc without calibration during installation.
In order to solve the above problems, the present invention provides a magneto-electric encoder comprising:
the support is provided with a through hole, more than two upright posts are arranged on one side of the support, the heights of the upright posts are the same and are perpendicular to the support, and threaded holes are formed in the upright posts;
The bearing outer ring is connected with the through hole on the bracket;
The rotary shaft is connected with the inner ring of the bearing, a round table is arranged on one side of the rotary shaft facing the upright post, the central axis of the round table is coincident with the central axis of the through hole arranged on the bracket, and a step is arranged at the edge of the round table;
The code disc is in a circular ring shape and is clamped on the step to be connected with the round table, and the size of the code disc is matched with the size of the step;
The reading head is provided with a connecting hole, a screw is used for penetrating through the connecting hole and is connected with a threaded hole on a corresponding upright post, and after the reading head is connected with the upright post, the central line axis of the reading head coincides with the central axis of a through hole arranged on the bracket.
Further, the bracket is square.
Further, the axis of the through hole in the bracket is perpendicular to the bracket and passes through the center of the bracket.
Further, the number of the stand columns is 4, and the stand columns are uniformly distributed along the circumferential direction of the support.
Further, the bearing outer ring is connected with the through hole on the bracket in a matched mode and is connected with the bracket through a screw.
Further, the rotating shaft is in interference fit connection with the inner ring of the bearing.
Further, a through hole is formed in the rotating shaft, and the through hole formed in the rotating shaft is coaxial with the through hole formed in the support.
Further, the bearing is a deep groove ball bearing.
Further, the code wheel is connected with the round table through glue.
Compared with the prior art, the technical scheme of the invention has the following advantages:
the step in this technical scheme matches the setting with the code wheel, and the stand corresponds the setting with the connecting hole in the reading head, can make the user need not carry out the secondary when the installation and mark, has reduced the degree of difficulty of installation, has improved the efficiency of installation.
Drawings
FIG. 1 is a perspective view of a magneto-electric encoder in a first embodiment of the invention;
FIG. 2 is a cross-sectional view of a magneto-electric encoder in a first embodiment of the invention;
FIG. 3 is a schematic diagram of a magneto-electric encoder with the readhead removed in a first embodiment of this invention.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
First embodiment
Referring to fig. 1 to 3, the present embodiment provides a magneto-electric encoder 100 including a bracket 1, a rotation shaft 2, a bearing 3, a reading head 4, and a code wheel 5.
Wherein, be equipped with the through-hole on the support 1, be provided with the stand 11 more than two on one side of support 1, the height of stand 11 is the same, and all perpendicular to support 1. The column 11 is provided with a screw hole for connecting with the reading head 4.
The through hole arranged on the bracket 1 is used for accommodating the rotating shaft 2 and the bearing 3. In this embodiment, the bracket 1 is square, the through hole provided on the bracket 1 is circular, and the axis of the through hole on the bracket 1 is perpendicular to the bracket 1and passes through the center of the bracket 1.
The number of the stand columns 11 is more than two, three or four stand columns can be arranged generally, the stand columns 11 are used for connecting the reading heads 4, the stand columns 11 are identical in height and perpendicular to the support 1, and after the reading heads 4 are installed, the reading heads 4 can be guaranteed to be parallel to the support 1.
In this embodiment, the number of the columns 11 is 4, and the columns are uniformly distributed along the circumferential direction of the bracket 1. The columns 11 shown in fig. 1 are provided at the four corners of the bracket 1, respectively.
The reading head 4 is provided with a connecting hole, a screw 2A passes through the connecting hole and is connected with a corresponding threaded hole on the upright post 11, and after the reading head 4 is connected with the upright post 11, the central line axis of the reading head 4 coincides with the central axis of a through hole arranged on the bracket 1.
After the reading head 4 is connected with the upright post 11, the central axis of the central line of the reading head 4 coincides with the central axis of the through hole arranged on the bracket 1, and the upright post 11 is reasonably arranged and a connecting hole is arranged at a proper position of the reading head 4 only when the magnetoelectric encoder is required to be produced. That is, after the magneto-electric encoder provided in this embodiment is produced, the user only needs to connect the reading head 4 with the upright post 11 through the screw when using, so as to ensure that the central axis of the reading head 4 coincides with the central axis of the through hole provided on the bracket 1.
The outer ring of the bearing 3 is connected with a through hole on the bracket 1. More specifically, the outer ring of the bearing 3 is connected with the through hole on the bracket 1 in a matching way, namely, the shape and the size are adapted. The outer ring of the bearing 3 is also connected to the bracket 1 by a screw 1A.
In this embodiment, the bearing 3 is a deep groove ball bearing.
The rotating shaft 2 is connected with the inner ring of the bearing 3, and a round table 21 is arranged on one side of the rotating shaft 2 facing the upright post 11. The central axis of the round table 21 coincides with the central axis of the through hole arranged on the bracket 1, and the round table 21 is provided with a step.
In this embodiment, the rotating shaft 2 is connected with the inner ring of the bearing 3 in an interference fit manner.
The round table 21 should be located inside 4 upright posts 11, and the round table 21 is used for installing the code wheel 5. The step is sized to snap into the code wheel 5. That is, the code wheel 5 is circular, the inner circle size is matched with the size of the step bulge, and the outer circle size of the code wheel 5 is matched with the size of the round table 21.
The matching means that the code wheel 5 can be snapped into the step and the dimensions are approximately the same.
After the code wheel 5 is clamped into the step, the central axis of the code wheel 5 is coincident with the central axis of the through hole arranged on the bracket 1. It is ensured that the code wheel 5 and the reading head 4 are parallel to each other and the central axis of the code wheel 5 coincides with the central axis of the reading head 4.
That is, after the magneto-electric encoder of the present embodiment is produced, the user only needs to install the reading head 4 and the code wheel 5 at the corresponding positions, so that the spatial positions of the reading head 4 and the code wheel 5 can be ensured to be calibrated, secondary calibration is not required, the installation difficulty is reduced, and the efficiency is improved.
The rotating shaft 2 is also provided with a through hole, and the through hole arranged on the rotating shaft 2 is coaxial with the through hole arranged on the bracket 1. The through hole arranged on the rotating shaft 2 is used for being connected with an output shaft of the motor.
This ensures that the code wheel 5 rotates about its own centre axis under the drive of the motor.
In this embodiment, the code wheel 5 may be adhered to the circular table 21 of the rotating shaft 2 by glue, so as to increase the connection firmness.
Second embodiment
The present embodiment provides a joint, including a motor, and the magnetoelectric encoder described in the first embodiment, wherein an output shaft of the motor is connected with a rotating shaft of the magnetoelectric encoder.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention should be assessed accordingly to that of the appended claims.
Claims (7)
1. A magneto-electric encoder, comprising:
the support is provided with a through hole, the axis of the through hole on the support is perpendicular to the support, more than two upright posts are arranged on one side of the support through the center of the support, the heights of the upright posts are the same and are perpendicular to the support, and threaded holes are formed in the upright posts;
The bearing outer ring is connected with the through hole on the bracket;
the rotary shaft is connected with the inner ring of the bearing, the rotary shaft is connected with the inner ring of the bearing in an interference fit manner, a round table is arranged on one side, facing the upright post, of the rotary shaft, the central axis of the round table coincides with the central axis of the through hole arranged on the support, a step is arranged on the edge of the round table, a through hole is arranged on the rotary shaft, the through hole arranged on the rotary shaft is coaxial with the through hole arranged on the support, and the through hole arranged on the rotary shaft is used for being connected with an output shaft of the motor;
The code disc is in a circular ring shape and is clamped on the step to be connected with the round table, and the size of the code disc is matched with the size of the step;
The reading head is provided with a connecting hole, a screw is used for penetrating through the connecting hole and is connected with a threaded hole on a corresponding upright post, and after the reading head is connected with the upright post, the central line axis of the reading head coincides with the central axis of a through hole arranged on the bracket.
2. The magneto-electric encoder of claim 1, wherein the support is square.
3. The magneto-electric encoder of claim 1, wherein the number of posts is 4, evenly distributed along the circumference of the support.
4. The magneto-electric encoder of claim 1, wherein the bearing outer race is cooperatively coupled to the through-hole in the bracket and coupled to the bracket by a screw.
5. The magneto-electric encoder of claim 1, wherein the bearing is a deep groove ball bearing.
6. The magneto-electric encoder of claim 1, wherein the code wheel is connected to the circular table by glue.
7. A joint comprising a motor, characterized in that it further comprises a magneto-electric encoder as claimed in any one of claims 1-6, wherein an output shaft of the motor is connected to a rotating shaft of the magneto-electric encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710808898.9A CN107449450B (en) | 2017-09-09 | 2017-09-09 | Magneto-electric encoder and joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710808898.9A CN107449450B (en) | 2017-09-09 | 2017-09-09 | Magneto-electric encoder and joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107449450A CN107449450A (en) | 2017-12-08 |
| CN107449450B true CN107449450B (en) | 2024-04-23 |
Family
ID=60496200
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710808898.9A Active CN107449450B (en) | 2017-09-09 | 2017-09-09 | Magneto-electric encoder and joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107449450B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2020012730A (en) * | 2018-07-18 | 2020-01-23 | 多摩川精機株式会社 | Magnetic encoder and method for attaching the same |
| CN110332955B (en) * | 2019-07-25 | 2022-03-11 | 苏州安必轩微电子技术有限公司 | Photoelectric encoder calibration method and photoelectric encoder and motor combined structure |
| CN210819632U (en) * | 2019-08-15 | 2020-06-23 | 琦星智能科技股份有限公司 | Robotic Arm Modular Code Wheel |
| CN110978015B (en) * | 2019-12-12 | 2021-08-31 | 常州节卡智能装备有限公司 | Encoder and robot joint |
| CN114353837A (en) * | 2022-01-28 | 2022-04-15 | 上海节卡机器人科技有限公司 | Encoder module and robot joint |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1143508A (en) * | 1966-11-09 | 1969-02-26 | Dixi Sa | Encoder |
| JPH1164356A (en) * | 1997-08-11 | 1999-03-05 | Nippon Seiko Kk | Rolling bearing unit with rotation speed detector |
| JP2002357457A (en) * | 2001-06-01 | 2002-12-13 | Canon Precision Inc | Optical encoder |
| JP2005337716A (en) * | 2004-05-24 | 2005-12-08 | Mitsubishi Electric Building Techno Service Co Ltd | Method and fixture for fixing encoder |
| JP2010276403A (en) * | 2009-05-27 | 2010-12-09 | Mitsubishi Electric Corp | Motor system with encoder and encoder, and method for manufacturing motor system with encoder |
| CN201699564U (en) * | 2010-05-20 | 2011-01-05 | 深圳市雷赛机电技术开发有限公司 | Position sensing encoder assembly for driving system of permanent-magnet synchronous motor |
| JP2012056453A (en) * | 2010-09-09 | 2012-03-22 | Nsk Ltd | Bearing unit with sensor |
| CN104260106A (en) * | 2014-08-18 | 2015-01-07 | 北京航空航天大学 | Variable stiffness joint module |
| JP2015118093A (en) * | 2013-12-17 | 2015-06-25 | グァンドン ユニバーシティ オブ テクノロジーＧｕａｎｇｄｏｎｇ Ｕｎｉｖｅｒｓｉｔｙ Ｏｆ Ｔｅｃｈｎｏｌｏｇｙ | Mechanical device that improves the resolution and measurement accuracy of angle encoders |
| CN105318900A (en) * | 2015-12-07 | 2016-02-10 | 国网吉林省电力有限公司电力科学研究院 | Novel non-ferromagnetic encoder |
| CN105914953A (en) * | 2016-05-10 | 2016-08-31 | 上海市雷智电机有限公司 | Motor with high stability |
| FR3035694A1 (en) * | 2015-04-29 | 2016-11-04 | Skf Ab | BEARING EQUIPPED WITH A ROTATIONAL DISPLACEMENT DETECTION DEVICE |
| CN207147506U (en) * | 2017-09-09 | 2018-03-27 | 尔智机器人（上海）有限公司 | A kind of magnetism encoder and joint |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10229246B4 (en) * | 2002-06-28 | 2004-05-27 | Stegmann Gmbh & Co. Kg | Optoelectronic angle measuring device and method for its production |
| US8471554B2 (en) * | 2011-01-24 | 2013-06-25 | Avago Technologies General Ip (Singapore) Pte. Ltd. | Encoder module with an alignment system |
-
2017
- 2017-09-09 CN CN201710808898.9A patent/CN107449450B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1143508A (en) * | 1966-11-09 | 1969-02-26 | Dixi Sa | Encoder |
| JPH1164356A (en) * | 1997-08-11 | 1999-03-05 | Nippon Seiko Kk | Rolling bearing unit with rotation speed detector |
| JP2002357457A (en) * | 2001-06-01 | 2002-12-13 | Canon Precision Inc | Optical encoder |
| JP2005337716A (en) * | 2004-05-24 | 2005-12-08 | Mitsubishi Electric Building Techno Service Co Ltd | Method and fixture for fixing encoder |
| JP2010276403A (en) * | 2009-05-27 | 2010-12-09 | Mitsubishi Electric Corp | Motor system with encoder and encoder, and method for manufacturing motor system with encoder |
| CN201699564U (en) * | 2010-05-20 | 2011-01-05 | 深圳市雷赛机电技术开发有限公司 | Position sensing encoder assembly for driving system of permanent-magnet synchronous motor |
| JP2012056453A (en) * | 2010-09-09 | 2012-03-22 | Nsk Ltd | Bearing unit with sensor |
| JP2015118093A (en) * | 2013-12-17 | 2015-06-25 | グァンドン ユニバーシティ オブ テクノロジーＧｕａｎｇｄｏｎｇ Ｕｎｉｖｅｒｓｉｔｙ Ｏｆ Ｔｅｃｈｎｏｌｏｇｙ | Mechanical device that improves the resolution and measurement accuracy of angle encoders |
| CN104260106A (en) * | 2014-08-18 | 2015-01-07 | 北京航空航天大学 | Variable stiffness joint module |
| FR3035694A1 (en) * | 2015-04-29 | 2016-11-04 | Skf Ab | BEARING EQUIPPED WITH A ROTATIONAL DISPLACEMENT DETECTION DEVICE |
| CN105318900A (en) * | 2015-12-07 | 2016-02-10 | 国网吉林省电力有限公司电力科学研究院 | Novel non-ferromagnetic encoder |
| CN105914953A (en) * | 2016-05-10 | 2016-08-31 | 上海市雷智电机有限公司 | Motor with high stability |
| CN207147506U (en) * | 2017-09-09 | 2018-03-27 | 尔智机器人（上海）有限公司 | A kind of magnetism encoder and joint |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107449450A (en) | 2017-12-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107449450B (en) | Magneto-electric encoder and joint | |
| CN103499365A (en) | Rotary transformer static and dynamic angle measuring accuracy calibration device and method | |
| US11619522B2 (en) | Calibrating position sensor readings | |
| CN110067811B (en) | Air-floating rotary table | |
| JP2011075553A (en) | Encoder | |
| CN113029222A (en) | Calibration method and device for magnetic encoder and magnetic encoder | |
| CN108180823A (en) | A kind of two-stage type magnetic absolute angle encoder | |
| CN110345974B (en) | Indexing photoelectric angle encoder and calibration method thereof | |
| CN210952872U (en) | Six-channel photomagnetic integrated encoder structure | |
| CN215639495U (en) | Encoder and servo system | |
| CN207147506U (en) | A kind of magnetism encoder and joint | |
| CN208458760U (en) | The servo motor of high-precision encoder and the application high-precision encoder | |
| CN207881630U (en) | A kind of two-stage type magnetic absolute angle encoder | |
| CN202171467U (en) | Clamping base for testing rotating accuracy of angle sensing mechanism | |
| CN106767600B (en) | A kind of system that high-precise synchronization monitors rotary body corner and radial displacement | |
| CN214308812U (en) | Encoder with stable reading | |
| CN211626380U (en) | Device for accurately measuring rotation angle | |
| CN205879132U (en) | Inferior rad level angle measurement device | |
| CN101877267B (en) | Magnetoconductive ring | |
| CN201503740U (en) | Magnetic ring | |
| CN213367583U (en) | Outer rotor permanent magnet synchronous servo motor and integrated electric roller | |
| CN209961237U (en) | An indexing photoelectric angle encoder | |
| CN210664550U (en) | Dynamic debugging device for magnetic bearing sensor | |
| TWI687039B (en) | Deviation sense mechanism for rotating shaft | |
| WO2006013622A1 (en) | Bearing with absolute angle sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| CB02 | Change of applicant information |
Address after: 519000 First Floor, Building A, No. 8 Jinzhou Road, Tangjiawan Town, Zhuhai High-tech Zone, Guangdong Province Applicant after: ASAGE ROBOTS (ZHUHAI) Co.,Ltd. Address before: Room 202F, 2nd floor, Ding Lou, 555 Dongchuan Road, Minhang District, Shanghai, 200241 Applicant before: ERZHI ROBOT (SHANGHAI) CO.,LTD. |
|
| CB02 | Change of applicant information | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |