Robot Drive with Isolated Optical Encoder

Patent metadata

Field	Value
Publication number	US-2017194842-A1
Application number	US-201715465101-A
Country	US
Kind code	A1
Filing date	Mar 21, 2017
Priority date	Sep 16, 2011
Publication date	Jul 6, 2017
Grant date	—

Abstract

An apparatus including a frame, an optical sensor connected to the frame, and an environment separation barrier. The frame is configured to be attached to a housing of a motor assembly proximate an aperture which extends through the housing. The optical sensor comprises a camera. The environment separation barrier is configured to be connected to the housing at the aperture, where the environment separation barrier is at least partially transparent and located relative to the camera to allow the camera to view an image inside the housing through the environment separation barrier and the aperture.

First claim

1 . An apparatus comprising:
a frame, where the frame is configured to be attached to a housing of a motor assembly proximate an aperture which extends through the housing; at least one light emitter connected to the frame; an array of optical sensors connected to the frame; and an environment separation barrier configured to be connected to the housing at the aperture, where the environment separation barrier is at least partially transparent and located relative to the array of optical sensors to allow the array of optical sensors to view an image inside the housing through the environment separation barrier and the aperture.

2 . An apparatus as in claim 1 further comprising a seal configured to be located directly between the environment separation barrier and the housing of the motor assembly.

3 . An apparatus as in claim 1 further comprising a first seal connected directly between the environment separation barrier and the frame.

4 . An apparatus as in claim 3 further comprising a second seal configured to be located directly between the frame and the housing of the motor assembly.

5 . An apparatus as in claim 1 further comprising a seal and a barrier holder configured to press the environment separation barrier against the seal, where the barrier holder is configured to be pressed by the frame towards the aperture.

6 . An apparatus as in claim 5 further comprising a connection between the barrier holder and the frame which is resilient to allow the barrier holder to move relative to the frame, and where the connection biases the barrier holder towards the aperture when the frame is connected to the housing.

7 . An apparatus as in claim 1 where the environment separation barrier comprises a transparent window which directly contacts the frame and is configured to be pressed by the frame towards the aperture when the frame is connected to the housing.

8 . An apparatus as in claim 1 further comprising the housing, a rotor inside the housing having a position reference member configured to be imaged by the array of optical sensors and at least one seal, where the frame is connected to the housing with the at least one seal and the environment separation barrier sealing the aperture to separate a first environmental area inside the housing from a second environmental area outside the housing.

9 . An apparatus as in claim 8 where the frame is not exposed to the first environmental area inside the housing.

10 . An apparatus as in claim 1 where the array of optical sensors comprises an array of cameras.

11 . A method comprising:
providing a read-head comprising a frame, at least one light emitter connected to the frame, and an array of optical sensors connected to the frame; connecting the read-head to a housing of a motor assembly, where the frame of the read-head is connected to the housing proximate an aperture which extends through the housing; and locating an environment separation barrier at the aperture to separate a first environmental area inside the housing from a second environmental area in which the array of optical sensors is located, where the environment separation barrier is at least partially transparent and located relative to the array of optical sensors to allow the array of optical sensors to view an image inside the housing through the environment separation barrier and the aperture.

12 . A method as in claim 11 further comprising locating a seal being directly between the environment separation barrier and the housing of the motor assembly.

13 . A method as in claim 11 further comprising connecting a first seal directly between the environment separation barrier and the frame.

14 . A method as in claim 13 further comprising locating a second seal directly between the frame and the housing of the motor assembly.

15 . A method as in claim 11 further comprising a barrier holder biasing the environment separation barrier against a seal, where the barrier holder is pressed by the frame towards the aperture.

16 . A method as in claim 15 further comprising proving a connection between the barrier holder and the frame which is resilient to allow the barrier holder to move relative to the frame, and where the connection biases the barrier holder towards the aperture when the frame is connected to the housing.

17 . A method as in claim 11 where the environment separation barrier comprises a transparent window which directly contacts the frame and is pressed by the frame towards the aperture when the frame is connected to the housing.

18 . A method as in claim 11 where a rotor is inside the housing and has a position reference member configured to be imaged by the array of optical sensors, where the frame is connected to the housing with at least one seal and the environment separation barrier to seal the aperture to separate a first environmental area inside the housing from a second environmental area outside the housing.

19 . A method as in claim 18 where the frame is not exposed to the first environmental area inside the housing.

20 . A method as in claim 11 where the array of optical sensors comprises at least one camera.

21 . A method comprising:
illuminating a reference member located inside a housing of a motor assembly by at least one light emitter of a read-head, where the read-head is located at least partially outside of the housing; viewing at least one image of the reference member by an array of optical sensors of the read-head, where the array of optical sensors is located at least partially outside of the housing, where the at least one image is viewed by the array of optical sensors though an aperture in the housing and through a transparent environment separation barrier located at the aperture, where the transparent environment separation barrier seals a first environment inside the housing from a second environment in which the array of optical sensors is located, and where the array of optical sensors is located outside of the first environment and the transparent environment separation barrier allows the array of optical sensors to view the at least one image coming from inside the housing through the environment separation barrier and the aperture.

Assignees

• Persimmon Technologies Corp
• Persimmon Technologies Corp

Inventors

• Poole Dennis
• Hosek Martin

Classifications

• H02K3/30

  Windings characterised by the insulating material · CPC title

• H02K5/10

  with arrangements for protection from ingress, e.g. water or fingers · CPC title

• H02K3/44

  Protection against moisture or chemical attack; Windings specially adapted for operation in liquid or gas · CPC title

• H02K21/44

  with armature windings wound upon the magnets · CPC title

• Y10S901/23

  Electric motor · CPC title