Robot Drive Module With Integrated Encoder for Precise Rotary Joints
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Solution Overview
Problem
Existing robot drive modules lack high precision and compactness for rotary joints, particularly in collaborative and humanoid robots, due to mechanical inaccuracies and encoder limitations, which hinder their performance in demanding applications like metrology and precision assembly.
Innovation Solution
A robot drive module design featuring a motor circuit board, stator, and rotor with a gearbox and integrated rotary encoder, where the encoder is positioned on the input side to provide high precision feedback, and a connecting part ensures rotation is transferred rigidly from the gearbox output to the input, allowing for compact and accurate position control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the encoder is mounted on the gearbox output axis as an independent module, then measurement precision is improved, but device complexity and space requirements increase
Solution Approach 1:
The encoder is integrated into the motor structure, merging the encoder mounting interface with the motor output flange. This eliminates the need for separate encoder mounting brackets and alignment procedures, reducing device complexity while maintaining measurement precision through the rigid direct connection to the rotor.
Solution Approach 2:
The motor output flange is designed to serve dual functions: as the mechanical output interface for the motor and as the mounting interface for the encoder. This multi-functional design reduces the number of separate components and simplifies the overall structure while ensuring precise encoder positioning.
2Measurement precision
If the encoder is mounted on the gearbox output axis, then measurement precision is improved, but the space required and cabling requirements increase
Solution Approach 1:
The encoder is positioned within the motor housing structure, merging the encoder space with the existing motor volume. This eliminates the need for additional external mounting space and reduces the overall footprint of the drive module while maintaining encoder functionality.
3Measurement precision
If a rigid connection is used to transfer rotation from gearbox output to input, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The motor shaft serves multiple functions: as the rotor rotation axis, as the gearbox input shaft, and as the encoder measurement axis. This multi-functional design eliminates the need for separate rigid connection elements while ensuring accurate rotation transfer through the inherent rigidity of the motor shaft structure.
Data Source
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AI summary
The invention relates to robot drive module (1, 1') for driving a rotary joint movement of a robot with at least a rotary drive and at least a rotary encoder (6, 6o, 6i) arrangement and a method for a robot having such a robot drive module (1, 1').