Robot Joint Module with Multi-Turn Encoder for Easier Calibration
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Solution Overview
Problem
The high cost and complexity of encoder calibration and maintenance in collaborative robot arms, particularly due to the use of dual single-turn absolute encoders, hinder market competitiveness and increase production costs for both manufacturers and users.
Innovation Solution
A joint module for collaborative robot arms that incorporates a multi-turn absolute encoder with an integrated structure, allowing for easier calibration and replacement, reducing the need for specialized equipment and professional engineers during production and repair.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If dual single-turn absolute encoders are used on the motor output shaft and reducer output shaft, then security functions such as collision detection and encoder fault detection are improved, but the production cost and complexity of calibration and maintenance increase
Solution Approach 1:
The patent extracts the encoder from the traditional dual-encoder configuration and replaces it with a brake disk integrated into the brake assembly. This extraction simplifies the system by removing the complex encoder calibration and maintenance requirements while retaining the essential feedback function through the brake disk's rotational position detection.
Solution Approach 2:
The patent merges the brake disk with the brake assembly, creating an integrated component that serves both braking and positional feedback functions. This combination eliminates the need for separate encoder units and reduces overall system complexity while maintaining security functions.
2Reliability
If dual single-turn absolute encoders are used, then encoder fault detection capability is improved, but the procurement cost and production cost increase
Solution Approach 1:
The patent employs a brake disk that can be easily replaced as a consumable component. Rather than using expensive absolute encoders that require complex calibration, the system uses a simpler, more economical brake disk that can be quickly swapped out if worn or damaged, reducing both initial procurement costs and long-term maintenance expenses.
3Measurement precision
If dual single-turn absolute encoders are used, then detection accuracy is improved, but the need for specialized calibration equipment and professional engineers increases
Solution Approach 1:
The patent designs the brake disk to be self-explanatory in its installation and orientation, eliminating the need for complex calibration procedures. The brake disk's structural features guide proper installation automatically, allowing maintenance personnel to replace it without requiring specialized calibration equipment or highly trained engineers, thus simplifying operation while maintaining detection accuracy.
Data Source
AI summary
The present disclosure provides a collaborative robot arm and a joint module. The joint module includes a housing, a driving assembly, and a multi-turn absolute encoder. The joint module detects the angular position of the output shaft and records a number of rotating revolutions of the output shaft only by means of the multi-turn absolute encoder. The multi-turn absolute encoder includes a base, a bearing, a rotating shaft, an encoding disk, and a circuit board, the encoding disk is rotatably connected with the base by the rotating shaft and the bearing, the circuit board is fixedly connected with the base, and the reading head on the circuit board detects the angular position of the output shaft cooperatively with the encoding disk, making the multi-turn absolute encoder be an integrated structure. The base and the rotating shaft are detachably connected with the housing and the output shaft respectively.