# US 11,897,119 B2 · Encoder module adapted for a robotic arm > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,119 B2 - Document ID: US11897119B2 - Status: Granted - Kind: B2 - Application number: 17/476,447 - Filed: 2021-09-15 - Published: 2022-04-14 - Granted: 2024-02-13 - Earliest claimed: 2020-10-14 - Assignees: Techman Robot Inc. - Applicants: Techman Robot Inc. - Inventors: Chien-Chang Huang; Yao-Ching Tsai - Web page: https://patentgrep.com/patent/US11897119B2 ## CPC - B25J 13/088: {with position, velocity or acceleration sensors} - B25J 17/00: Joints - B25J 19/0075: {Means for protecting the manipulator from its environment or vice versa} - G01D 5/3473: {Circular or rotary encoders} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G01D: MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR ## Abstract An encoder module adapted for a robotic arm is provided and includes a bracket, a bearing embedded in the bracket, an adaptor ring embedded in the bearing, a circuit board fixed on the bracket and an encoder plate. The bracket includes a ring-shaped structure. The adaptor ring includes a ring-shaped flange portion and a protruding portion. The protruding portion is located adjacent to an inner periphery of the ring-shaped flange portion and protrudes from the ring-shaped flange portion. An outer periphery and an inner periphery of the bearing engage with an inner periphery of the ring-shaped structure and an outer periphery of the protruding portion respectively. The circuit board includes a detector. The encoder plate is fixed on the ring-shaped flange portion and located at a position corresponding to the detector and between the detector and the adaptor ring. The encoder module has less accumulated error and improved accuracy. ## Claims ### Claim 1 An encoder module adapted for a robotic arm, the encoder module comprising: a bracket comprising a ring-shaped structure, a plurality of extending rods extending from an outer periphery of the ring-shaped structure; a bearing embedded in the bracket, an inner periphery of the ring-shaped structure engaging with an outer periphery of the bearing; an adaptor ring embedded in the bearing, the adaptor ring comprising a ring-shaped flange portion and a protruding portion, the protruding portion being located adjacent to an inner periphery of the ring-shaped flange portion and protruding from a first side of the ring-shaped flange portion, an outer periphery of the protruding portion engaging with an inner periphery of the bearing; a circuit board fixed on the bracket and comprising a detector; and an encoder plate fixed on a second side of the ring-shaped flange portion opposite to the first side of the ring-shaped flange portion, the encoder plate being located at a position corresponding to the detector and located between the detector and the adaptor ring. ### Claim 2 (depends on 1) The encoder module of claim 1, further comprising a dustproof cover fixed on the bracket and located between the circuit board and the encoder plate, the dustproof cover being spaced apart from the encoder plate and covering the encoder plate. ### Claim 3 (depends on 2) The encoder module of claim 2, wherein the dustproof cover is formed in a ring shape, a plurality of protruding lugs protrude from an outer periphery of the dustproof cover, a number and a configuration of the plurality of protruding lugs are corresponding to a number and a configuration of the plurality of extending rods respectively, and the plurality of protruding lugs are fixed on the plurality of extending rods respectively. ### Claim 4 (depends on 2) The encoder module of claim 2, wherein at least one detecting hole is formed on the dustproof cover, and the detector detects the encoder plate via the at least one detecting hole. ### Claim 5 (depends on 1) The encoder module of claim 1, further comprising a plurality of resilient components, each of the plurality of resilient components being disposed on a distal end of the corresponding extending rod, and the encoder module being fixed on a shell of a joint assembly of the robotic arm by the plurality of resilient components. ### Claim 6 (depends on 5) The encoder module of claim 5, further comprising at least one screw component, at least one connecting hole being formed on the protruding portion, the at least one screw component passing through the at least one connecting hole to engage with a rotating shaft of the joint assembly for fixing the adaptor ring on the rotating shaft of the joint assembly. ### Claim 7 (depends on 6) The encoder module of claim 6, wherein the rotating shaft of the joint assembly is an output shaft or an input shaft. ### Claim 8 (depends on 6) The encoder module of claim 6, wherein a rotating axis of the encoder plate is aligned with a rotating axis of the rotating shaft. ### Claim 9 (depends on 1) The encoder module of claim 1, wherein the plurality of extending rods are arranged in a radial symmetry. ### Claim 10 (depends on 1) The encoder module of claim 1, wherein the detector is located at a position corresponding to a central portion of the encoder plate between an outer periphery of the encoder plate and an inner periphery of the encoder plate.