US 12,138,784 B2
Collaborative robot arm and joint module
Zhongbin Wang, Shenzhen (CN); Yu Jiang, Shenzhen (CN); Yingbo Lei, Shenzhen (CN); Weizhi Ye, Shenzhen (CN); Lun Wang, Shenzhen (CN); and Ming Zhang, Shenzhen (CN)
Assigned to SHENZHEN YUEJIANG TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed by SHENZHEN YUEJIANG TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed on Jan. 6, 2023, as Appl. No. 18/094,311.
Claims priority of application No. 202211230239.9 (CN), filed on Oct. 8, 2022.
Prior Publication US 2024/0116196 A1, Apr. 11, 2024
Int. Cl. B25J 17/02 (2006.01); B25J 9/00 (2006.01); B25J 9/10 (2006.01); B25J 9/12 (2006.01); B25J 13/08 (2006.01); G01D 5/347 (2006.01)
CPC B25J 17/025 (2013.01) [B25J 9/0009 (2013.01); B25J 9/108 (2013.01); B25J 9/126 (2013.01); B25J 13/088 (2013.01); G01D 5/34738 (2013.01)] 19 Claims
OG exemplary drawing
 
16. A joint module of a collaborative robot arm, wherein the joint module comprises:
a housing;
a driving assembly, comprising:
an output shaft;
a stator, embodied in the housing; and
a rotor, sleeved on the output shaft and arranged on an inner side of the stator;
a speed reduction assembly, connected with the output shaft, and an output end of the speed reduction assembly being not provided with an encoder; and
a multi-turn absolute encoder having an integrated structure and detachably connected with the output shaft to detect an angular position of the output shaft and record a number of rotating revolutions of the output shaft;
wherein the multi-turn absolute encoder is a photoelectric type encoder, and the multi-turn absolute encoder comprises:
a base, defining a bearing hole, the base being detachably connected with the housing;
a bearing, embedded in the bearing hole of the base;
a rotating shaft, comprising:
a connecting portion, inserted in an inner ring of the bearing;
an inserting portion, connected with one end of the connecting portion and extending out from one side of the bearing; the rotating shaft being detachably connected to the output shaft through the inserting portion; and
a protruding portion, connected with the other end of the connecting portion and extending out from the other side of the bearing;
a grating disk, connected with the protruding portion;
a circuit board, connected with the base and provided with a reading head, the reading head being configured to detect the angular position of the output shaft cooperatively with the grating disk; and
an upper cover, connected with the base to sleeve on the grating disk; wherein
the multi-turn absolute encoder further comprises a plurality of supporting rods spaced apart from each other around the rotating shaft, and a light source fixed on the base, the supporting rods being supported between the base and the circuit board, and being positioned at the periphery of the grating disk, the light source being configured to transmit a detection signal to the grating disk, and the reading head being configured to receive the detection signal passing through the grating disk.