Joint assembly
AssigneeKassow Robots ApS
InventorKristian Kassow
Life of this patent
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Abstract
A joint assembly for a robot, comprising a housing connected with an output part. The housing comprising a housing wall and a strain wave gearing system. The strain wave gearing system comprising a wave generator, a flexspline, and a circular spline connected to the output part. The wave generator is rotated by a rotor shaft. The rotor shaft is driven by an electric motor comprising a rotor magnet and a stator. The rotor magnet being affixed to the rotor shaft. The joint assembly further comprises one or more sensors comprising one or more magnetic field sensors and one or more pole rings arranged to measure a position of the output part in relation to the housing.
Claims24
A joint assembly for a robot, comprising:
- a housing connected with an output part, the housing comprising a housing wall,
- a strain wave gearing system comprising:
- a wave generator,
- a flexspline, and
- a circular spline connected to the output part;
- a rotor shaft configured to rotate the wave generator;
- an electric motor configured to drive the rotor shaft and comprising a rotor magnet and a stator, the rotor magnet being affixed to the rotor shaft;
- and
- sensors arranged to, in combination, determine a position of the output part in relation to the housing, each of said sensors having a magnetic field sensor and a pole ring, wherein one of said sensors is a first sensor configured to measure rotation of the output part in relation to the housing, and one of said sensors is a rotor sensor configured to measure rotation of the rotor shaft;
- wherein the pole ring of the first sensor is divided into a number of sections, and wherein a gear ratio of the strain wave gearing system is not divisible to an integer by the number of sections.
A joint assembly for a robot, comprising:
- a housing connected with an output part, the housing comprising a housing wall;
- a strain wave gearing system comprising:
- a wave generator,
- a flexspline, and
- a circular spline connected to the output part,
- wherein the wave generator is configured to be rotated by a rotor shaft, the rotor shaft being configured to be driven by an electric motor comprising a rotor magnet and a stator, the rotor magnet being affixed to the rotor shaft, and wherein the joint assembly further comprises:
- one or more sensors comprising magnetic field sensors and pole rings arranged to determine a position of the output part in relation to the housing;
- and
- an output brake configured to stop or prevent rotation of the output part even if the flexspline is broken.
Dependencies are inferred from the claim text.