US 12,337,466 B2
Modular robot joint, encoder reading head position adjustment mechanism and method for adjusting the position of an encoder reading head
Zhaopeng Chen, Beijing (CN); Zhimin Gao, Beijing (CN); Yuechao Zhao, Beijing (CN); Xuebin Su, Beijing (CN); and Qian Wang, Beijing (CN)
Assigned to Agile Robots SE, Munich (DE); and Beijing Siling Robot Technology Co., Ltd., Beijing (CN)
Appl. No. 17/780,630
Filed by AGILE ROBOTS SE, Munich (DE); and Beijing Siling Robot Technology Co., Ltd., Beijing (CN)
PCT Filed Nov. 17, 2020, PCT No. PCT/EP2020/082435
§ 371(c)(1), (2) Date May 27, 2022,
PCT Pub. No. WO2021/104950, PCT Pub. Date Jun. 3, 2021.
Claims priority of application No. 201911208255.6 (CN), filed on Nov. 30, 2019.
Prior Publication US 2023/0356408 A1, Nov. 9, 2023
Int. Cl. B25J 13/08 (2006.01); B25J 9/10 (2006.01); B25J 9/12 (2006.01); B25J 17/02 (2006.01); H02K 7/102 (2006.01); H02K 7/116 (2006.01); H02K 11/215 (2016.01)
CPC B25J 13/088 (2013.01) [B25J 9/102 (2013.01); B25J 9/126 (2013.01); B25J 17/0241 (2013.01); H02K 7/102 (2013.01); H02K 7/116 (2013.01); H02K 11/215 (2016.01); H02K 2213/09 (2013.01); H02K 2213/12 (2013.01)] 2 Claims
OG exemplary drawing
 
1. A modular robot joint, including a motor, a reducer, a hollow shaft, an output flange, a brake, and an encoder, the hollow shaft is fixed to the output flange the motor outputs power to the output flange through the reducer, the encoder is used to detect the rotation speed of the motor or to detect the rotation speed of the hollow shaft, and feedbacks information to the control system, the encoder including:
a magnetic ring and a reading head, the magnetic ring fixed to a motor shaft of the motor or the hollow shaft; and
a reading head bracket, wherein the reading head bracket includes a reading head position adjustment mechanism disposed on one side of the reading head bracket, the reading head is disposed on the reading head position adjustment mechanism opposite to the magnetic ring, the axial distance between the reading head and the magnetic ring being selectively adjustable to a predetermined value by adjusting the reading head position adjustment mechanism;
the reading head position adjustment mechanism includes a lower support and an upper support, the lower support and the upper support connected to each other and positioned by a positioning screw, the upper support being pressed against the lower support by a pressing screw, the reading head being fixed to the upper surface of the upper support by a reading head fixing screw, wherein:
the reading head is set on a surface of a side of the upper support, opposite to the magnetic ring, and
the axial distance between the reading head and a surface of the magnetic ring being selectively adjustable to a predetermined value Ds by adjusting the pressing screw and positioning screw, and
wherein:
when the axial distance between the reading head and the surface of the magnetic ring is greater than the predetermined value Ds, at least one of
S1: the positioning screw is selectively rotated to move a certain distance upwardly, and
S2: the pressing screw is selectively rotated to move a certain distance downwardly,
until the axial distance between the reading head of the encoder and the magnetic ring is equal to the predetermined value Ds;
when the axial distance between the reading head and surface of the magnetic ring is less than the predetermined value Ds, at least one of
S3: the positioning screw is selectively to move a certain distance downwardly, and
S4: the pressing screw is selectively rotated to move a certain distance upwardly,
until the axial distance between the reading head of the encoder and the surface of the magnetic ring is equal to the predetermined value Ds.