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US 2024/0181632 A1Published application
Robot drive module
AssigneeHexagon Technology Center GmbH
InventorsRoman STEFFEN, Pascal GOHL, Lukas HEINZLE, Markus WENK
Life of this patent
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Abstract
A robot drive module for driving a rotary joint movement of a robot with at least a rotary drive and at least a rotary encoder arrangement and a method for a robot having such a robot drive module.
Claims16
A robot drive module for driving a rotary joint movement of a robot, particularly a metrology robot and/or humanoid robot, wherein the robot drive module comprises:
- a rotary drive comprising a motor circuit board, a stator, and a rotor, wherein the rotor is configured to rotate, controlled by the motor circuit board, relative to the stator about an axis of rotation,
- a gearbox configured to transform, according to a defined gear ratio, a rotary motion of the rotor about the axis of rotation into a rotary motion of a gearbox output component about the axis of rotation, wherein—axially with respect to the axis of rotation—the motor circuit board and the stator are arranged on one side of the gearbox, denoted gearbox input side, and the gearbox output component engages the gearbox from the other side of the gearbox, denoted gearbox output side, and
- a rotary encoder configured to detect a rotation of the gearbox output component about the axis of rotation,
- a connecting part which extends from the gearbox output side to the gearbox input side and is configured to pick up the rotation of the gearbox output component in a rigid manner, thereby providing rotation of the connecting part identical to the rotation of the gearbox output component, and
- the rotary encoder is arranged on the gearbox input side and configured to detect a rotation of the connecting part about the axis of rotation.
2 more elements
A robot drive module for driving a rotary joint movement of a robot, wherein the robot drive module comprises:
- two rotary drives, each of the two rotary drives comprising a stator and a rotor configured to rotate relative to a respective stator, wherein the rotors of the two rotary drives are configured to rotate about a common axis of rotation, and
- a rotary encoder arrangement configured to detect an associated rotation for each of the two rotary drives,
- wherein
- the robot drive module comprises a motor circuit board configured to control both of the two rotary drives independently from each other,
- the motor circuit board and the two rotary drives are arranged that, axially with respect to the axis of rotation, the stator of one of the two rotary drives, denoted inner rotary drive, is arranged on one side of the motor circuit board, denoted inner side, and the stator of the other of the two rotary drives, denoted outer rotary drive, is arranged on the other side of the motor circuit board, denoted outer side,
- a rotating component driven by the inner rotary drive axially extending from the inner side to the outer side in an area located radially on the inside of the outer rotary drive,
- the rotary encoder arrangement comprises two rotary encoders, wherein:
- one of the two rotary encoders is configured to provide detection of a rotation, about the axis of rotation, of the rotating component driven by the inner rotary drive, wherein a sensor arrangement of one of the two rotary encoders is arranged on the motor circuit board on the inner side, and
- the other of the two rotary encoders is configured to provide detection of a rotation, about the axis of rotation, of a rotating component driven by the outer rotary drive, wherein a sensor arrangement of the other of the two rotary encoders is arranged on the motor circuit board on the outer side.
6 more elements
Dependencies are inferred from the claim text.