Hollow Driving Module Torque Measurement via Segmented Encoders
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Solution Overview
Problem
Existing hollow driving modules face challenges in accurately measuring torque and rotation angle due to torque loss, making it difficult to achieve precise control in industrial robots.
Innovation Solution
A hollow driving module design incorporating a hollow motor with a perforated center, a decelerator, a torque transmission unit, and two encoders positioned at the input and output sides, along with a torque sensor and blocking bearing, to measure rotation angles and torque accurately, while allowing for a compact and lightweight robot design.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Weight of moving object
If a hollow driving module is used to reduce weight and volume, then the robot becomes lighter and more compact, but torque loss increases making accurate torque measurement difficult
Solution Approach 1:
The patent divides the measurement function into two separate encoders: one for measuring motor rotation angle and another for measuring output rotation angle. This segmentation allows accurate measurement despite torque loss in the hollow structure by independently tracking input and output parameters.
Solution Approach 2:
The patent introduces a reaction force transmission mechanism that transmits the reaction force from the torque transmission unit to a fixed structure. This intermediary mechanism enables torque measurement without affecting the hollow structure's weight reduction benefits.
2Device complexity
If components are integrated and arranged densely to simplify the robot structure, then device complexity decreases, but measurement of output torque and rotation angle becomes inaccurate due to torque loss
Solution Approach 1:
The patent segments the measurement system into two independent encoder units positioned at different locations (motor input side and output side). This allows the integrated hollow structure to maintain simplicity while achieving accurate measurement by separately monitoring input and output parameters.
Solution Approach 2:
The patent implements a feedback mechanism where both encoders continuously monitor rotation angles and provide data for calculating actual output torque. This feedback loop compensates for torque loss in the integrated hollow structure, maintaining measurement accuracy despite the simplified design.
3Shape
If power lines and sensor lines are routed through the center of hollow components, then the robot appearance is simplified and weight is reduced, but cable twist and interference may occur
Solution Approach 1:
The patent nests multiple utility lines (power lines and sensor lines) within the hollow cylindrical structure of the motor and components. The encoders and connection means are positioned to allow these lines to pass through the central hollow portions, achieving a clean appearance while maintaining cable integrity through proper routing design.
Data Source
AI summary
The present invention relates to a hollow driving module comprising a hollow driving module including a hollow motor including a stator, a rotor rotating with respect to the stator and having a perforated center portion, and a rotation shaft disposed at and coupled to the perforated center portion of the rotor; a decelerator connected with the rotation shaft positioned at an output side of the hollow motor to decelerate rotation of the rotation shaft; a torque transmission unit being connected to an output side of the decelerator to be driven by a decelerated rotation angle; a first encoder positioned at an input side opposite to a side connected with the decelerator of the hollow motor; a second encoder positioned at a side opposite to a side connected with the hollow motor of the first encoder; and a link connection means connecting the second encoder with the torque transmission unit.