An omnidirectional encoder for robot ball joints and joint posture calculation method

By designing an omnidirectional encoder for robot ball joints and using rollers and encoder components to measure the three-axis rotation angles of the spherical joints, the problem that existing encoders are difficult to measure all-round rotation is solved, and high-precision joint posture calculation and control are achieved.

CN119550384BActive Publication Date: 2025-09-23WUHAN ZHENYOU TECHNOLOGY CO LTD
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Patent Information

Application Number
CN202411684040.2
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2024-11-22
Publication Date
2025-09-23
Estimated Expiration
2044-11-22

AI Technical Summary

Technical Problem

Existing one-dimensional encoders for robot joints have difficulty measuring the full range of rotational motion of joints, especially the motion of spherical joints when they rotate in any direction in space.

Method used

An omnidirectional encoder for robot ball joints is designed, which includes a tooling body and three encoding components: rollers, magnets, and an encoder body. The rollers are arranged perpendicularly in pairs. The encoder measures the rotation angle of the spherical joint along the three axes and combines the calculation method to solve the omnidirectional rotation posture of the spherical joint.

Benefits of technology

It achieves accurate measurement of the omnidirectional rotation posture of the robot's spherical joints, improves the accuracy and flexibility of joint control, and reduces installation space requirements.

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Abstract

The present invention relates to an omnidirectional encoder for a robot ball joint and a joint posture calculation method, wherein the omnidirectional encoder includes a tooling body and three encoding components, the tooling body has a spherical groove, and three openings are opened on the outer wall of the tooling body. The three encoding components each include a roller, a magnet and an encoder body, the roller is rotatably connected to the tooling body, the three rollers are arranged vertically in pairs, one end of the three rollers passes through the three openings respectively and abuts against the spherical joint, and the other ends of the three rollers are fixedly connected to the three magnets respectively, and the three encoder bodies are all fixed on the tooling body and arranged facing the corresponding magnets; when the spherical joint rotates, the friction between it and the roller drives the roller to rotate, the roller drives the magnet to rotate, and the encoder body identifies the rotation angle of the magnet. Since the three rollers are arranged vertically in pairs, the three encoder bodies can measure the rotation angle of the spherical joint along the three-axis direction, thereby solving the omnidirectional rotation posture of the spherical joint.
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