EP4208938A1

EP4208938A1 - Modular rotary intelligent drive

Info

Publication number: EP4208938A1
Application number: EP20804700.1A
Authority: EP
Inventors: Peter TKÁC; Juraj SMRCEK
Original assignee: Spinbotics S R O
Current assignee: Spinbotics S R O
Priority date: 2020-08-07
Filing date: 2020-08-07
Publication date: 2023-07-12
Also published as: WO2022031238A1

Abstract

Modular rotary intelligent drive consists of a connection of an inlet module (1), containing a shaft (11), inlet module with integrated ribbing (19) on the its enclosed rear face (lie), motor stator (12) with connected hall sensor (121), control and performance board (15) of the inlet module; brake module (2) containing a brake module ring (21) and a brake module electromagnetic solenoid (22); gear module (3) containing a gear module inlet element (32) containing a steel ring (322) with integrated permanent magnets (3221), gear module transmission block (38), gear module output bearing (35), absolute sensor abs ring (34) connected to the front flange (33) of the gear module; connecting module (4) containing a connecting module holder (41) with fixed sensing head (43) of absolute position sensor and a transmissive energy and CAN communication interface unit (42); an output module (5) containing a cover (51) and an energy and CAN communication interface accumulating unit (52); into one functional compact unit of a rotary drive.

Description

Modular rotary intelligent drive

Technical field

The invention is related to a modular rotary intelligent drive performing rotary and pendulous motion in the field of mechanical engineering, electrical engineering, manipulation, robotic and automation technology.

Description of the Prior Art

Recent robotic technology executes rotary and pendulous motion by the application of standard rotary actuators with unlimited range of rotary motion (actuators also enable wider use) or by the application of specialised rotary joints with unlimited or limited range of rotary motion, which are parts of the design of classical industrial robots or they are a part of the design of modular industrial robots. As for the structure and design, both types are based on the concept of serial arrangement of their internal functional parts, which leads off the serial arrangement of basic system functional blocks of the actuator or more precisely joint of the electric motor and gear blocks. The core of the arrangement is the actuator or joint compact consisting of the electric motor to which the gear is connected by rigid connection; next other functional parts such as the brake, sensors and controls are connected by rigid connection; electric connection of relevant functional parts is realised by classical cable distribution. The disadvantage of such actuators or joints arrangement is presented by the robustness of its clearance dimension (mainly axial dimension) and the robustness of its constructional volume and higher actual weight which have negative effect during the construction of the robot arm by the fact that it complicates and influences its design, ratio arrangement of clearance dimensions and arms weight which will directly show in energy budget and operating characteristics of the industrial robot. The disadvantage of such an arrangement also presents the use of classical cable connection of relevant functional parts which are applied in the form of individual cable connections or the form of cable trees as moving or fixed elements; such distributions unfavorably influence the construction of actuators / joints as well as the robot arms.

One example of the widely used standard actuator is the rotary drive Harmonic Drive from HARMONIC DRIVE SE company, the design of which is made of the block of a harmonic gear, electric motor block, sensors block, brake block and flange preloaded bearings on the input and output, which are connected by a classical fixed connection and electrically by a classical cable distribution; such arrangement determines length / axial drive dimension as well as its constructional volume. This drive is compatible with a compact regulator Yukon Drive. The design and structure of this drive do not bear elements of complete modularity, it possesses variable interface of the system of feedback. The drives are produced in catalogue models Standard, Holloshaft and determined performance series, they are primarily devoted for the applications with the requirement of high positioning precision and motion control precision.

Another example of standard actuator is an advanced rotary actuator DriveSpin made by company SPINEA, the construction of which consists of a servo AC motor, a highly precise bearing reducer TwinSpin with an integrated bearing, sensors, an application converter, an integrated connector, a brake, the parts of which are functionally arranged in line, mutually mechanically connected by a classical rigid connection and electrically connected by a classical cable distribution; such an arrangement determines length / axial drive dimension as well as its construction volume. The design and structure do not fully bear the features of modularity, the design of the actuator can be equipped with different types of sensors, brakes, and electronic connection. The actuators are produced in catalogue models and determined performance series (modifications and gear features) and configurations are determined mainly for the application with the requirement for high positioning and drive dynamics precision.

The following example of standard actuator is a rotary actuator DGII made by company MAXON, which has advanced application and is designed as a standard model consisting of DC / DCX electric drives Maxon with roller or sliding bearings, standard planetary gears GPX Maxon and sensors, model ENX, placed in a common bushing; these parts are arranged in line, mechanically connected by a classical rigid connection and electrically by a classical cable distribution; this arrangement determines length / axial drive dimension as well as its construction volume. The design and structure of the actuator is partially based on the modularity principles, mainly in the part of the electric motor and sensors. The actuators are compatible with Maxon position and speed control units. The drives are produced in catalogue models and determined performance series (set F and A); they are intended mainly for the applications with the requirement for high range of speeds, stable torque for all speeds, shortterm overload capacity and overcoming variable mechanical resistances.

The next example how to solve specialised rotary joints is the joint Modul Elephant Robotics made by ELEPHANT ROBOTICS, which is designated directly for the type models P and C of their own collaborative robots; the joint is composed of a standard harmonic gear Harmonic Drive, an electric motor, a motor frame, a brake, a fixing frame, an encoder, a control board, a bushing; those parts are functionally arranged and mechanically and electrically interconnected in line by a classical rigid connection and a classical cable distribution; such an arrangement determines the length / axial joint dimension. The joint is standardized in determined type series and it corresponds in performance with the needs of the presented robot type set, without the possibility to arrange it in an alternative version.

Another example of a specialised rotary joint solution is the joint made by company COBOTS&SOLUTIONS, which is directly designated for the type series JAKA of their own robots (the joint is not presented on the market as an individual product), the joint is designed as a serial arrangement and mutual mechanical interconnection of a type harmonic gear Harmonic Drive and an individual electric motor including sensor and brake block by a classical rigid connection, electric connection is realised by a classical cable distribution. The arrangement determines length / axial joint dimension as well as the internal construction space of robot joint. The joint is produced in performance series necessary for the presented robot type, without the possibility to arrange it in an alternative version and does not have features of modularity.

A joint for collaborative UR robots made by UNIVERSAL ROBOTS belongs among the specialised rotary joints as well. It is directly intended for the type series of own UR robots (the joint is not presented on the market as an individual product), the joint is designed as a serial arrangement and mutual mechanical interconnection of standard harmonic gear Harmonic Drive and an individual electric motor, including sensors and a brake block by a classical rigid connection, electrical connection is realised by a classical cable distribution. The arrangement determined the length / axial joint dimension as well as internal construction joint space and construction space of the arm of the standard robot. The joint is solved in the performance series necessary for the presented robot type, without a possibility to arrange it in an alternative version and does not have features of modularity.

Rotary actuator made by company ARCsecond, robotic module Elephant Robotics, joint module JAKA, joint module for the collaborative robot KUKA AG, joint module SHUNK, joint module ABB, joint module Rethink Robotics, joint module AUBO robotics, actuator made by Kinova Inc, and others present other purpose -made solutions of drives for the joints in robotic technology, the construction design of which is similar to the above presented types of actuators / robotic joints. Summary of the invention

The objective of the presented invention is to suggest a modular rotary intelligent drive with unlimited range of rotation, voltage and feedback variability and a mechanism of energy, signal and data transmission within its internal structure, which would obtain equal performance parameters to the recent type series of actuators / joints with smaller construction volume, smaller clearance dimensions and lower weight; and at the same time, by its modular constructional design, it would enable quick and simple redesign, which would enable to assemble drives in different versions directly according to requirements on its application.

The above presented objective is fulfilled by the invention of the modular rotary intelligent drive, consisting of mutual interconnection of the inlet module containing an inlet module shaft with integrated ribbing on its enclosed rear side, a motor stator with connected hall sensors, a control and performance unit of the inlet module; a brake module containing a brake module ring with connected brake module electromagnetic solenoid; gear module containing gear module transmission block, a transmission block output bearing and a gear module inlet element containing a steel ring with integrated permanent magnets; a connecting module containing a connecting module holder with rigidly connected sensory head of the absolute position sensor and a transmissive energy unit and a CAN communication interface; and an output module containing a cover and energy accumulating unit and a CAN communication interface; into one functional compact unit of a rotary drive, where the integration of these modules is realised so that the inlet module, with rigidly connected brake module, is fixed to the front part of the inlet module and the output module is rigidly connected to the front side of the transmission block.

The modular rotary intelligent drive is assembled by the integration of these modules into one compact unit; the internal structure, construction design and its inlets and outputs of which guarantee simple and quick redesign, simple assembly to following functional groups in the higher assembly of projected mechanism or projected mechatronic mechanism, creation of different parametric and construction designs, creation of modular type series of modular rotary intelligent drives and securing of required output parameters and signal, data and energy transmission without the need of additional interconnection.

The invention of the modular rotary intelligent drive, by the arrangement of its modules and their internal design, guarantee a reliable solution of a rotary module for robotic machinery, mainly for joint, collaborative as well as industrial robots, manipulators and single-purpose manipulation and peripheral means which are intended for mechanization and automation of manipulation and technological processes of production and non-production systems.

The presented construction design of the invention is original. In comparison with recent conventional rotary actuators, modules / units in the presented suggestion, the originality lies in mutual interconnection of modules into one compact unit, in the concept of parallel - serial arrangement of the internal drive structure containing an electric motor with stator and rotor reversed arrangement, safety brake, transmission block, sensoric equipment, internal system of cable distribution and transmissive mechanism securing signal, data and energy transmission within internal drive structure.

Brief description of the drawings

Fig. 1 shows modules of the modular rotary intelligent drive.

Fig. 2 shows a 3D front view of an inlet module of the modular rotary intelligent drive.

Fig. 3 shows a horizontal sectional view of the inlet module of the modular rotary intelligent drive.

Fig. 4 shows a 3d view of the inlet module shaft.

Fig. 5 shows an image of connection of an incremental sensory head of rotations and position of the motor to the holder of incremental sensory head.

Fig. 6 shows a control and performance board with integrated trio of inlet connectors.

Fig. 7 shows a horizontal sectional view of a brake module of the modular rotary intelligent drive.

Fig. 8 shows a 3D front view of the brake module of the modular rotary intelligent drive.

Fig. 9 shows a 3D rear view of the connection of an electromagnetic solenoid to the holder of the electromagnetic solenoid.

Fig. 10 shows a horizontal sectional view of a gear module of the modular rotary intelligent drive.

Fig. 11 shows a front view of the gear module of the modular rotary intelligent drive.

Fig. 12 shows a rear view of the gear module of the modular rotary intelligent drive.

Fig. 13 shows a horizontal sectional view of the inlet element of the gear module of the modular rotary intelligent drive.

Fig. 14 shows a 3D rear view of the inlet element of the gear module of the modular rotary intelligent drive. Fig. 15 shows a horizontal sectional view of the connecting module of the modular rotary intelligent drive.

Fig. 16 shows a front view of the performance connecting board of the transmissive unit of the connecting module.

Fig. 17 shows a 3D front view of the connecting module of the modular rotary intelligent drive. Fig. 18 shows a rear view of the connecting module of the modular rotary intelligent drive.

Fig. 19 shows a horizontal sectional view of the output module of the modular rotary intelligent drive.

Fig. 20 shows rear view of the output module of the modular rotary intelligent drive.

Fig. 21 shows a front view of the output module of the modular rotary intelligent drive.

Fig. 22 shows a front view of the output board of accumulating unit of the output module.

Fig. 23 shows a rear view of the output board of the accumulating unit of the output module.

Fig. 24 shows a horizontal sectional view of the modular rotary intelligent drive.

Fig. 25 shows a vertical sectional view of the modular rotary intelligent drive.

Fig. 26 shows a rear view of the modular rotary intelligent drive.

Fig. 27 shows a front view of the modular rotary intelligent drive.

Fig. 28 shows a 3D front view of the modular rotary intelligent drive.

Fig. 29 shows a 3D front view of an example of design of an inlet module without a holder of incremental sensory head connected with a rigid incremental sensory head of rotations and position of the motor to its upper deck.

Fig. 30 shows a horizontal sectional view of an example of design of the inlet module without holder of incremental sensory head connected with a rigid incremental sensory head of rotations and position of the motor to its upper deck.

Fig. 31 shows a rear view of an example of design of the inlet module with a control and performance board connected with an integrated pair of inlet connectors.

Fig. 32 shows a front view of the design of the control and performance board with an integrated pair of inlet connectors.

Fig. 33 shows a horizontal sectional view of an example of design of brake module connected with an incremental sensory head of motor rotations and position.

Fig. 34 shows a rear view of an example of design of the brake module connected with an incremental sensory head of motor rotations and position.

Fig. 35 shows a horizontal sectional view of an example of design of the brake module connected with an electromagnetic solenoid. Fig. 36 shows a rear view of an example of design of the brake module with directly connected electromagnetic solenoid.

Fig. 37 shows a 3D rear view of an example of design of the gear module with an inlet element of the gear module with connected radial incremental sensory ring of the motor rotations and position.

Fig. 38 shows a horizontal sectional view of an example of design of the gear module inlet element with connected radial incremental sensory ring of the motor rotations and position.

Fig. 39 shows a 3D rear view of an example of design of the gear module inlet element with connected radial incremental sensory ring of the motor rotations and position.

Fig. 40 shows a horizontal sectional view of an example of design of the connecting module with a transmissive unit of the connecting module consisting of a performance switch board of the transmissive unit, a static performance PBC slide ring with transmissive energy brushes and a signal rotary distribution for signal transmission.

Fig. 41 shows a 3D front view of an example of design of the connecting module with a transmissive unit of the connecting module consisting of a performance switch board of the transmissive unit, a static performance PBC slide ring with transmissive energy brushes and a signal rotary distribution for signal transmission.

Fig. 42 shows a rear view of an example of design of the connecting module with a transmissive unit of the connecting module consisting of a performance switch board of the transmissive unit, a static performance PBC slide ring with transmissive energy brushes and a signal rotary distribution for signal transmission.

Fig. 43 shows a horizontal sectional view of an example of design of the connecting module with a transmissive unit of the connecting module consisting of a performance switch board of the transmissive unit and a rotary PCB slide ring with collecting energy and signal fields.

Fig. 44 shows a 3D front view of an example of design of the connecting module with a transmissive unit of the connecting module consisting of a performance switch board of the transmissive unit and a rotary PCB slide ring with collecting energy and signal fields.

Fig. 45 shows a horizontal sectional view of an example of design of the connecting module with a transmissive unit of the connecting module consisting of a performance switch board, a rotary performance PCB slide ring and collecting energy fields and a signal rotary distribution for signal transmission.

Fig. 46 shows a 3D front view of an example of design of the connecting module with a transmissive unit of the connecting module consisting of a performance switch board of the transmissive unit, a rotary performance PCB slide ring with collecting energy fields and a signal rotary distribution for signal transmission.

Fig. 47 shows a rear view of an example of design of the connecting module with a transmissive unit of the connecting module consisting of a performance switch board of the transmissive unit, a rotary performance PCB slide ring with collecting energy fields and a signal rotary distribution for signal transmission.

Fig. 48 shows a horizontal sectional view of an example of design of the output module with an accumulating unit of the output module consisting of a rotary performance PCB slide ring with collecting energy fields and an output board of the accumulating unit.

Fig. 49 shows a rear view of an example of design of the output module with a accumulating unit of the output module consisting of a rotary performance PCB slide ring with collecting energy fields and an output board of the accumulating unit.

Fig. 50 shows a front view of an example of design of the output module with a accumulating unit of the output module consisting of a rotary performance PCB slide ring with collecting energy fields and an output board of the accumulating unit.

Fig. 51 shows a front view of an example of design of the output board of the accumulating unit for the design of the output module with a accumulating unit of the output module with a accumulating unit of the output module consisting of a rotary performance PCB slide ring with collecting energy fields and an output board of the accumulating unit.

Fig. 52 shows a front view of an example of design of the output board of the accumulating unit for the design of the output module with a accumulating unit of the output module with a accumulating unit of the output module consisting of a rotary performance PCB slide ring with collecting energy fields and an output board of the accumulating unit.

Fig. 53 shows horizontal sectional view of an example of design of the output module with a accumulating unit of the output module consisting of a static PCB slide ring with transmissive energy and signal brushes for signal and energy transmission and an output board of the accumulating unit.

Fig. 54 shows a rear view of an example of design of the output module with a accumulating unit of the output module consisting of a static PCB slide ring with transmissive energy and signal brushes for signal and energy transmission and an output board of the accumulating unit. Fig. 55 shows a horizontal sectional view of an example of design of the output module with a accumulating unit of the output module consisting of a static performance PCB slide ring with transmissive energy brushes and an output board of the accumulating unit. Fig. 56 shows a rear view of an example of design of the output module with a accumulating unit of the output module consisting of a static performance PCB slide ring with transmissive energy brushes and an output board of the accumulating unit.

Fig. 57 shows a horizontal sectional view of an example of design of the modular rotary intelligent drive containing a design of the connecting module with a transmissive unit of the connecting module consisting of a performance board of the transmissive unit, a static performance PCB slide ring with transmissive energy brushes and a signal rotary distribution for signal transmission, and a design of the output module with a accumulating unit of the output module consisting of a rotary performance PCB slip ring with collecting energy fields and an output board of the accumulating unit.

Fig. 58 shows a 3D front view of an example of design of the modular rotary intelligent drive containing a design of the connecting module with a transmissive unit of the connecting module consisting of a performance connecting board of the transmissive unit, a static performance PCB slide ring with transmissive energy brushes and a signal rotary distribution for signal transmission, and a design of the output module with a accumulating unit of the output module consisting of a rotary performance PCB slide ring with collecting energy fields and an output board of the accumulating unit.

Fig. 59 shows a horizontal sectional view of an example of design of the modular rotary intelligent drive containing a design of the inlet module without connected holder of the incremental sensory head, with rigid incremental sensory head of the motor rotations and position fixed to its upper deck, a design of the brake module with connected incremental sensory head of the motor rotations and position, and a design of the gear module with an inlet element of the gear module with connected radial incremental sensory ring of the motor rotations and position.

Examples of embodiments of the invention

Fig. 1 through 28 show an example of realisation of the invention of modular intelligent rotary drive. The modular intelligent rotary drive is based on mutual connection of the following: inlet module 1 , fulfilling the function of a control and performance block of the modular intelligent rotary drive, containing the shaft 11 of the inlet module with integrated ribbing 19 on the closed back area l ie of the inlet module shaft, a control and performance board 15 of the inlet module and a motor stator 12 with connected hall sensors 121 to its coiling where the control and performance board 15 of the inlet module is fixed by a rigid connection to the internal face area 1 Id of the inlet module shaft which also presents a communication connector 154 for the CAN communication interface integrated into the control and performance board 15 of the inlet module, inserted into the housing 16 for the communication connector fixed by the rigid connection to the rear face area 1 If of the inlet module shaft created on the rear closed area l ie of the inlet module shaft; ethernet connector 152, integrated into the control and performance board 15 of the inlet module, inserted into the housing 17 for the ethemet connector fixed by a rigid connection to the rear face area 1 If of the inlet module shaft created on the rear closed area l ie of the inlet module shaft, and an inlet feeding connector 153, integrated into the control and performance board 15 of the inlet module, inserted into the housing 18 for the inlet feeding connector, connected by rigid connection to the rear face area I lf, created on the rear closed area l ie of the inlet shaft; a motor stator 12, with rigidly connected hall sensors 121 to its coiling, which is inserted to the front face area of the stator distance ring 13, and at the same time fixed by a rigid connection to the outer cylindrical area I la of the inlet module shaft, while the stator distance ring 13 is at the same time pressed towards the front face area of the holder 141 of the incremental sensory head by its back face area, with rigidly connected incremental sensory head 14 of the motor rotations and position to its upper deck, which is at the same time by its rear face area 141a inserted towards the face setting 1 lb of the inlet module shaft and latching screws 1411 fixed towards the outer cylinder area I la of the inlet module shaft. Motor stator 12 with rigidly fixed hall sensors 121 to its coiling is being slipped to the distance ring 13 by the side with rigidly connected hall sensors 121, towards the control and performance board 15 of the inlet module. To the control and performance 15 of the inlet board there are connected the output cables from motor stator 12 (Motor phases), incremental sensory head 14 of the motor rotations and position, hall sensors 121, connecting output energy cables 15 A, output communication cables 15B for the CAN communication interface and inlet cables 15C of the absolute sensor, while the interconnecting output energy cables 15 A, output communication cables 15B for the CAN communication interface and inlet cables 15C of the absolute sensor are consequently lead through an opening 1 IB of the inlet module shaft integrated into the cylindrical area 1 Ih of the inlet module shaft and next through the cable opening 11C of the inlet module shaft, created from the face area 11c of the inlet module shaft and ending at the internal face area 11g of the inlet module shaft, towards the inlet opening 11 A of the inlet module shaft, which serves as a passage towards the connecting module 4; the brake module 2, containing the brake module ring 21 which fulfills the function of covering the control and performance board 15 of the inlet module with connected electromagnetic solenoid 22 of the brake module fulfilling the function of the active element of the safety brake of the modular rotary intelligent drive, where the brake module electromagnetic solenoid 22 is connected to the brake module ring 21 as follows: the brake module electromagnetic solenoid 22 is connected by rigid connection to the electromagnetic solenoid holder 23 through which it is fixed by rigid connection to the ring face area 21a and at the same time, it is by its latching shaft 221, placed into the ring opening 21 A, integrated into the brake module ring 21; the gear module 3, fulfilling the function of highly effective converter of the motor torque and rotations, latching mechanism of the safety brake and inlet and output assembly flanges of the modular rotary intelligent drive, containing the gear module inlet element 32, gear module transmission block 38 and gear module output bearing 35, where the gear module inlet element 32 consists of the inlet element shaft 321, which has in its internal cylindrical area 321a of the inlet element shaft a steel ring 322 with integrated permanent magnets 3221 pressed on, a bearing 323 with double-ended sealing pressed on its internal cylindrical area 321b of the inlet element shaft by its internal ring; and fixed by rigid connection a latching ring 325 with rigidly fixed axial incremental sensory ring 326 of the motor rotations and position to its front face area towards the rear face area 321c of the inlet element shaft, while the inlet element shaft 321 is directly connected to the gear module transmission block 38 built on harmonic or planetary of cycloid principles or their combination, by the transmission block gear inlet 324 integrated into the outer cylindrical inlet element shaft 321 , and a anti-friction roller bearing 37, tied to the gear module rear flange 31, fixed to the output bearing outer ring 351, and through the bearing 36, tied to the gear module front flange 33, with rigidly connected absolute sensor sensory ring 34 to the front flange front face area 33a, while the gear module front flange 33 is fixed to the output bearing internal ring 352, and the gear module output bearing 35 is at the same time connected to the gear module transmission block 38; the connecting module 4, fulfilling the function of the coupling for the interconnection of the output energy cables 15 A, the CAN communication interface communication cables 15B and the absolute sensor inlet cables 15C lead from the inlet module control and performance board 15 towards the inlet module shaft inlet opening 11A, a function of the static part of the electric energy distribution and CAN communication interface communication signal distribution towards the output module 5, containing the connecting module holder 41, with rigidly connected absolute position sensor sensory head 43 to the connecting module holder rear face area 41c, an energy and CAN communication interface transmissive unit 42 consisting of the transmissive unit performance switch board 421 and a static PCB slide ring 422 with transmissive energy and signal brushes for signal and energy transmission where the transmissive unit performance switch board 421 is fixed to the connection module holder internal face area 41b, created in the connecting module holder 41 in the following way: switch board Fasten connectors 4211 which are integrated into the transmissive unit performance switch board 421 head towards the connecting module holder rear area 41, and switch board output soldering areas 4212, integrated into the connecting module performance switch board 421 head towards the rear area of the static PCB slide ring 422 with transmissive energy and signal brushes for the energy and signal transmission, which is by its rear area firmly connected to the connecting module holder front face area 41a, and through its inlet energy soldering areas 42211 it is connected with the output soldering areas 4212 of the performance switch board either by fixed or cable or dismountable connection; the output module 5, fulfilling the function of the rotary part of electric energy distribution CAN communication interface communication signal distribution and cover of the connecting module 4, containing the output module cover 51 and accumulating unit 52 of the energy and CAN communication interface consisting of the rotary PCB slide ring 521 with collecting energy and signal fields and the accumulating unit output board 522 where the rotary PCB slide ring 521 with connecting energy and signal fields is fixed by its rear side to the cover internal face area 51b created in the output module cover 51 with firmly connected output housing 54 for the CAN communication interface connector and the output housing 55 for the output feeding connector to the cover front face area 51a; and the accumulating unit output board 522 with integrated output feeding connector 5222 and output communication connector 5221 on its front surface and with integrated inlet signal soldering areas 5223 and inlet energy soldering areas 5224 on its rear surface, is firmly connected to the cover internal face area 51c and at the same time it is inserted by the output feeding connector 5222 into the output housing 55 for the output feeding connector, and output communication connector 5221 for the CAN communication interface into the output housing 54 for the CAN communication interface connector. The inlet energy soldering areas 5224 of the output board and the inlet signal soldering areas 5223 of the output board are interconnected with the signal soldering areas 5212 of the rotary PCB slide ring and energy soldering areas 5211 of the rotary PCB slide ring either by solid or cable or dismountable connection; into one functional compact unit of the modular rotary intelligent drive while the connection of the modules is realised as follows: towards the rear flange rear face area 31 of the connecting module there is the inlet module shaft 11 is firmly connected through firmly connected brake module ring 21 to the output module shaft 11 and with the connected electromagnetic solenoid output cables 22 of the brake module to the inlet module control and performance board 15, which at the same time presents anti-friction roller bearing through the bearing 323 with double- ended sealing tied to the gear module inlet element 32. After connecting the inlet module shaft 11 to the rear face part of the gear module rear flange 31 and simultaneous insertion of the bearing internal ring 323 with double-ended sealing into the outer cylindrical area I la of the inlet module shaft, the connecting module 4 connected with the output energetic cables 15 A, output communication cables 15B of the CAN communication interface and absolute sensor inlet cables 15C as follows: the output energy cables 15A are connected by dismountable connection to Fasten connectors 4211 of the performance switch board; output communication cables 15B of the CAN communication interface are connected by dismountable connection to the inlet signal soldering areas 4222 of the static PCB slide ring; and the absolute sensor inlet cables 15C are connected by dismountable connection to the sensory head 43 of the position absolute sensor. Next, after connecting the cables, the connecting module 4 is firmly connected to the inlet module shaft face area 11c which is created on the inlet module shaft 11, and the output module 5 is firmly connected through the output module cover 51 to the output flange face area 33 of the gear module and at the same time by the rotary PCB slide ring 521 with collecting energy and signal fields is tied to the static PCB slide ring 422 with transmissive energy and signal brushes for signal and energy transmission.

Hereby, by mutual connection of these modules, a motor is assembled, which consists of the motor stator 12 with firmly connected hall sensors 121 to its coiling and by a steel ring 322 with integrated permanent magnets 3221, pressed on into the internal cylindrical area 321a of the inlet element shaft; axial incremental sensor of motor rotations and position created by the incremental sensory head 14 of the motor rotations and position firmly connected to the holder 141 of the incremental sensory head, and axial sensory ring 326 of the motor rotations and position firmly connected to the rear face area of the latching ring 325; absolute sensor of the modular rotary intelligent drive position created by the sensory head 43 of the absolute position sensor firmly fixed to the rear face area 41c of the connecting module holder, and a sensory ring 34 of the absolute holder firmly connected to the front face area 33a of the front flange; a safety brake created by the brake module electromagnetic solenoid 22 and the latching ring 325 firmly connected to the rear face area 321c of the shaft; and electric rotary distribution for the signal and energy transmission created by a rotary PCB slide ring 521 with collecting energy and signal fields and a static PCB slide ring 422 with transmissive energy and signal brushes for signal and energy transmission.

Figures 29 through 32 show examples of the design of the inlet module. The inlet module 1 of the modular rotary intelligent drive containing the inlet module shaft 11 with integrated ribbing 19 on the rear closed area 1 le of the inlet module shaft, control and performance board 15 of the inlet module and a motor stator 12 with connected hall sensors 121 to its coiling, can be designed in the model without connected holder 141 of the incremental sensory head with firmly connected incremental sensory head 14 of the motor rotations and position to its upper deck, and in the design with connected control and performance board 15 of the inlet module with integrated pair of inlet connectors.

The design of the inlet module 1 without the holder 141 of the incremental sensory head with firmly connected incremental sensory head 14 of the motor rotations and position to its upper deck is designed as follows: the motor stator 12 with connected hall sensors 121 to its coiling is firmly connected to the outer cylindrical area 1 la of the inlet module shaft and at the same time it is pressed against the front face area of the stator distance ring 13, while the stator distance ring 13 is by its rear face side inserted directly towards the front planting 11b of the inlet module shaft. The motor stator 12 with firmly connected hall sensors 121 to its coiling is towards the stator distance ring 13 inserted by the side with firmly connected hall sensors 121 and lead towards the control and performance board 15 of the inlet module. To the control and performance board 15 of the inlet module the following are connected: output cables from the motor stator 12 (Motor phases), hall sensors 121, connecting output energy cables 15A, output communication cables 15B for the CAN communication interface and inlet cables 15C of the absolute sensor, while connecting output energy cables 15 A, output communication cables 15B for the CAN communication interface and inlet cables 15C of the absolute sensor are then lead through the opening 11B of the inlet module shaft integrated into the cylindrical are l lh the inlet module shaft and through the cable opening 11C of the inlet module shaft created from the front area 11c of the inlet module shaft and ending on the internal face area 11g of the inlet module shaft towards the opening 11 A of the inlet module shaft, which serves as a pass-over to the connecting module 4.

The design of the inlet module 1 with connected control and performance board 15 of the inlet module with integrated pair of inlet connectors is designed as follows: the motor stator 12 with connected hall sensors 121 to its coiling is firmly connected to the outer cylindrical area 1 la of the inlet module shaft and at the same time is inserted towards the front face area of the stator distance 13, which is by its rear face area inserted either: into the front face area of the incremental sensory head holder 141 with firmly connected incremental sensory head 14 of the motor rotations and position to its upper deck, which is at the same time inserted by its rear face area 141a towards the face planting 1 lb of the inlet module shaft and by latching screws 1411 fixed towards the outer cylindrical area 1 la of the inlet module shaft, or it is directly inserted into the face planting 1 lb of the inlet module shaft.

The motor stator 12 with firmly connected hall sensors 121 to its coiling is inserted into the stator distance ring 13 by the side with firmly connected hall sensors 121 and lead to the control and performance board 15 of the inlet module with integrated inlet hybrid feeding and communication connector 155 and ethernet connector 151, which is by rigid connection firmly fixed to the internal face area 1 Id of the inlet module shaft, and at the same time, by the hybrid inlet feeding and communication CAN connector 155, integrated in the control and performance board 15 of the inlet module, it is inserted into the housing 18 for the inlet feeding connector, fixed by a rigid connection to the rear face area 11 f of the shaft of face planting 11b, and ethemet connector 152, integrated into the control and performance board 15 of the inlet module, inserted into the housing 17 for the ethernet connector which is by rigid connection fixed to the rear face area 1 If of the inlet module shaft, created on the closed rear area 1 le of the inlet module shaft.

Figures 33 through 36 show examples of the design of the brake module. The brake module 2 of the modular rotary intelligent drive containing the brake module ring 21 with connected brake module electromagnetic solenoid 22 can be designed in the model with connected incremental sensory head 14 of the motor rotations and position and in the model with direct connection of the brake module electromagnetic solenoid 22.

The design of the brake module 2 with connected incremental sensory head 14 of the motor rotations and position is designed as follows: the brake module electromagnetic solenoid 22 is by firm connection fixed to the electromagnetic solenoid holder 23 through which it is next firmly connected to the ring face area 21a and at the same time, by its latching shaft 221, lead into the ring opening 21 A, integrated in the brake module ring 21 , and incremental sensory head 14 of the motor rotations and position is by firm connection fixed to the ring face area 21a, while it is fixed in a way that its sensory part heads radially and vertically towards the brake module ring central ax 21. Cable taps from the brake module electromagnetic solenoid 22 and incremental sensory head 14 of the motor rotations and position are connected, during the connection of the brake module 2 to the inlet module 1 of the modular rotary intelligent drive, to the control and performance board 15 of the inlet module.

The design of the brake module 2 with direct connection of the brake module electromagnetic solenoid 2 is designed as follows: the brake module electromagnetic solenoid 22 is by firm connection fixed to the area 21c of the brake module created on the internal cylindrical area of the ring 21 of the brake module, which is at the same time by its latching shaft 221 inserted into the opening 21 A, integrated in the ring face area 21a. Cable taps from the brake module electromagnetic solenoid 22 are connected, during the connection of the brake module 2 to the inlet module 1 of the modular rotary intelligent drive, to the control and performance board 15 of the inlet module.

In Figures 37 through 39 there is an example of the design of the gear module with the gear module inlet element with connected radial incremental sensory ring of the motor rotations and position. The gear module 3 of the modular rotary intelligent drive containing the gear module transmission block 38, the gear module output bearing 35 and the gear module inlet element 32, it can be designed in the model with the gear module inlet element 32 with connected radial incremental sensory ring 327 of the motor rotations and position as follows: radial incremental sensory ring 327 of the motor rotations and position is connected to the inlet element latching ring 325, which is by rigid connection fixed to the inlet element shaft 321 with pressed-on steel ring 322, with integrated permanent magnets 3221, in the internal cylindrical area 321a of the shaft and with pressed-on outer ring, bearing 323 with double-ended sealing in the internal cylindrical area 321b of the shaft.

Figures 40 through 47 show the examples of the design of the connecting module. The connecting module 4 of the modular rotary intelligent drive containing the connecting module holder 41 with rigidly connected sensory head 43 of the absolute position sensor of the position to the rear face area 41c of the connecting module holder, and the transmissive unit 42 of the energy and CAN communication interface can be designed in the model with the energy and CAN communication interface transmissive unit 42 consisting either of the transmissive unit performance switch board 42, static performance PCB slide ring 423 with transmissive energy brushes and the signal rotary distribution 424 for signal transmission; or the transmissive unit performance switch board 421 and the rotary PCB slide ring 521 with collecting energy and signal fields; or the transmissive unit performance switch board 421, the rotary performance PCB slide ring 523 with collecting energy fields and the signal rotary distribution 424 for signal transmission.

The connecting module 4 in the model with the transmissive unit 42 of the energy and CAN communication interface consisting of the transmissive unit performance switch board 421, static performance PCB slide ring 423 with transmissive energy brushes and the signal rotary distribution 424 for signal transmission is designed as follows: to the internal face area 41b of the holder, by rigid connection, the transmissive unit performance switch board 421 is fixed as follows: Fasten connectors 4211 of the switch boards, which are integrated into the switch board 421 of the transmissive unit which face towards the rear area 41 of the connecting module holder, and the switch board output performance soldering areas 4212 head towards the rear side of the performance PCB slide ring 423 with transmissive energy brushes, while the performance PCB slide ring 423 with transmissive energy brushes is, by its rear side, firmly connected to the front face area 41a of the connecting module holder and by its inlet energy soldering areas 4231 it is connected with the output performance soldering areas 4212 of the switch board by either by firm or dismountable or cable connection. The signal rotary distribution 424 for signal transmission is by its rotary ring 4241 of the signal rotary distribution slid inside the internal cylindrical area 41d of the connecting module holder, at the same time, after insertion into the internal cylindrical area 4 Id, it is firmly connected to the connecting module holder 41.

The connecting module 4 in the design with the transmissive unit 42 of energy and CAN communication interface consisting of the transmissive unit performance switch board 421 and the rotary PCB slide ring 521 with collecting energy and signal fields is designed as follows: to the internal face area 41b of the holder, by rigid connection, the transmissive unit performance switch board 421 is fixed as follows: the switch board Fasten connectors 4211, which are integrated into the transmissive unit switch board 421, head towards the connecting module holder rear area 41 , and the switch board output performance soldering areas 4212 head towards the rear side of the rotary PCB slide ring 521 with collecting energy and signal fields, while the rotary PCB slide ring 521 with collecting energy and signal fields is by its rear side and rigid connection fixed to the connecting module holder front face area 41a and by its inlet energy soldering areas 5211 it is connected to the output performance soldering area 4212 of the switch board either by rigid or dismountable or cable connection.

The connecting module 4 in the design with the transmissive unit 42 of energy and CAN communication interface consisting of the transmissive unit performance switch board 421, rotary performance PCB slide ring 523 with collecting energy areas and the signal rotary distribution 424 for signal transmission is designed as follows: to the internal face area 41b of the holder, by rigid connection, the transmissive unit performance switch board 421 is fixed as follows: the switch board Fasten connectors 4211, which are integrated into the transmissive unit switch board 421 head towards the rear area of the connecting module holder 41, and the switch boards output performance soldering areas 4212 head towards the rear side of the rotary performance PCB slide ring 523 with collecting energy fields, while the rotary performance PCB slide ring 523 with collecting energy fields is, by its rear side, rigidly fixed to the front face area 41a of the connecting module holder and its inlet energy soldering areas 5231 connected to the output performance soldering areas 4212 of the switch board either by rigid or dismountable or cable connection. The signal rotary distribution 424 for signal transmission is by its rotary ring 4241 of the signal rotary distribution inserted into the internal cylindrical area 41d of the connecting module holder and at the same time, after insertion into the internal cylindrical area 4 Id, it is rigidly connected to the connecting module holder 41.

Figures 48 through 56 show the examples of the design of the output module. The output module 5 of the modular rotary intelligent drive contains the output module cover 51 and the accumulating unit 52 of energy and CAN communication interface, it can be designed in the model with the accumulating unit 52 of energy and CAN communication interface consisting either of the rotary performance PCB slide ring 523 with collecting energy fields and the accumulating unit output board 522; or the static PCB slide ring 422 with transmissive energy and signal brushes for signal and energy transmission and the accumulating unit output board 522; or the static performance PCB slide ring 423 with transmissive energy brushes and the accumulating unit output collecting board 522.

The output module 5 in the design with the accumulating unit 52 of energy and CAN communication interface consisting of the rotary performance PCB slide ring 523 with collecting energy fields and the accumulating unit output board 522 is designed as follows: the output module cover lid 51 is created by mutual interconnection of the cover lid output cover 512 and the cover output ring 511, while to the output ring rear internal face area 51 lb, by rigid connection, the rotary performance PCB ring 523 with collecting energy fields is fixed and to the front internal face area 51 la of the output ring, by rigid connection, the accumulating unit output board 522 is fixed, which has on its front side the output feeding connector 5222, output communication connector 5221 for the CAN communication interface and the connecting signal connector 5225 integrated, and the inlet energy soldering areas 5224, which are connected with the inlet energy soldering areas 5231 of the performance rotary PCB slide ring integrated either by rigid, cable or dismountable connection. The outlet cover 512 of the cover lid, which has to its face area, by rigid connection, the housing 55 for the output feeding connector and the housing 54 for the output connector of CAN communication interface fixed, is by dismountable connection fixed to the front face area of the output ring 511 of the cover lid and at the same time, it is by the housing 55 for the output feeding connector slid onto the output feeding connector 5222 and by the housing 54 for the output connector of the CAN communication interface it is slid onto the output communication connector 5221 for the CAN communication interface.

The output module 5 in the design with the accumulating unit 52 of energy and CAN communication interface consisting of the static PCB slide ring 422 with transmissive energy and signal brushes for signal and energy transmission and the accumulating unit output board 522 area designed as follows: the static PCB slide ring 422 with transmissive energy and signal brushes for energy and signal transmission is by its rear side fixed to the internal face area 51b of the cover lid created in the output module cover lid 51 , with rigidly connected output housing 54 for the CAN communication interface connector and the output housing 55 for the output feeding connector to the front face area 51 a of the cover lid; and the accumulating unit output board 522, with integrated output feeding connector 5222 and the output communication connector 5221 for CAN communication interface on its front side, and with the integrated inlet signal soldering areas 5223 and the inlet energy soldering areas 5224 on its rear side, is by rigid connection fixed to the internal face area 51 c of the cover lid and at the same time it is inserted by the output feeding connector 5222 into the output housing 55 for the output feeding connector, and the output communication connector 5221 for CAN communication interface into the output housing 54 for the CAN communication interface connector. The inlet energy soldering areas 5224 of the output board and the inlet signal soldering areas 5223 of the output board area connected to the signal soldering areas 4222 of the static PCB slide ring and the energy soldering areas 4221 of the static PCB slide ring either by rigid, cable or dismountable connection.

The output module 5 in the design with the accumulating unit 52 of energy and CAN communication interface consisting of the static performance PCB slide ring 423 with transmissive energy brushes and the accumulating unit output collecting board 522 is designed as follows: the output module cover lid 51 is created by the connection of the cover lid output cover 512 and the cover lid output ring 511, while to the rear internal face area 511b of the output ring, by rigid connection, the static performance PCB slide ring 423 with transmissive energy brushes is fixed and to the front face area 51 la of the output ring, by rigid connection, the accumulating unit output board 522, which has integrated output feeding connector 5222, output communication connector 5221 for CAN communication interface and the connecting signal connector 5225 fixed and to its rear side it has integrated the inlet energy soldering areas 5224, which are connected to the inlet energy soldering areas 4231 of the static performance PCB slide ring either by rigid, or cable, or dismountable connection. The output lid 512 of the cover lid, which has on its face area, by rigid connection, the housing 55 for the output feeding connector and the housing 54 for the output CAN communication interface connector fixed, it is by dismountable connection fixed to the front face area of the output ring 511 of the cover lid and at the same time by the housing 55 for the output feeding connector it is inserted into the output feeding connector 5222 and the housing 54 for the output CAN communication interface connector inserted into the output communication connector 5221 for CAN communication interface.

Figures 57 through 58 show an example of the design of the modular rotary intelligent drive containing the design of the connecting module with the energy and CAN communication interface transmissive unit, consisting of the transmissive unit performance switch board, static performance PCB slide ring with transmissive energy brushes and rotary signal distribution for signal transmission, and the design of the output module with the output module accumulating unit consisting of the rotary performance PCB slide ring with collecting energy fields and the accumulating unit output board. The presented design of the modular rotary intelligent drive is designed by mutual connection of the inlet module 1, brake module 2, gear module 3, connecting module 4 with the transmissive unit 42 of energy and CAN communication interface, consisting of the transmissive unit performance switch board 421, the static performance PCB slide ring 423 with transmissive energy brushes and the signal rotary distribution 424 for signal transmission, and the output module 5 with the output module accumulating unit 52, consisting of the rotary performance PCB slide ring 523 with collecting energy fields and the accumulating unit output board 522 into one functional compact unit, while mutual connection of these modules is designed as follows: to the rear face area of the gear module rear flange 31 , through rigid connection of the brake module ring 21 to the inlet module shaft 11 and with connected, by dismountable connection, electromagnetic solenoid output cables 22 to the inlet module control and performance board 15, the inlet module shaft 11 is fixed, which is at the same time anti-friction roller bearing through the bearing 323 with double-ended sealing tied to the gear module inlet element 32, containing the latching ring 325 with rigidly connected axial incremental sensory ring 326 of the motor rotations and position. After the connection of the inlet module shaft 11 to the rear face area of the gear module rear flange 31 and insertion of the bearing internal ring 323 with double-ended sealing into the outer cylindrical area I la of the inlet module shaft, the connecting module 4 is connected to the output energy cables 15 A, output communication cables 15B of CAN communication interface and the absolute sensor inlet cables 15C as follows: the output energy cables 15A are by dismountable connection fixed to the Fasten connectors 4211 of the performance switch board; the CAN communication interface output communication cables 15B are by dismountable connection fixed to the rotary ring output cables 4241 of the rotary signal distribution, and the absolute sensor inlet cables 15C are by dismountable connection fixed to the sensory head 43 of the absolute position sensor. After the connection of cables, the connecting module 4 is by rigid connection fixed to the face area 11c of the inlet module shaft created on the inlet module shaft 11. Next, the cover lid output ring 511, with disconnected cover lid output lid 512 by rigid connection fixed to the front face area 33 of the gear module front flange and at the same time, by its internal cylindrical area 511c, inserted onto the static ring 4242 of the signal rotary distribution, while the static ring 4242 of the signal rotary distribution is at the same time, after rigid connection of the cover lid output ring 511 to the gear module front flange 33, by rigid connection fixed to the cover lid output ring 511 and by its output cables, by dismountable connection, fixed to the switch signal connector 5225 of the output board. After the connection, the cover lid output cover 512 is again disconnected, by dismountable connection fixed to the front face area of the cover lid output ring 511 and at the same time, through the housing 55 for the output feeding connector inserted into the output feeding connector 5222 and through the housing 54 for the output connector of CAN communication interface inserted onto the output communication connector 5221 for CAN communication interface.

By mutual connection of these modules the motor is assembled, created by the motor stator 12 with rigidly connected hall sensors 121 to its coiling, and the steel ring 322 with integrated permanent magnets 3221, pressed-on into the internal cylindrical area 321a of the inlet module shaft; axial incremental sensor of the motor rotations and position created by the incremental sensory head 14 of the motor position and rotations rigidly connected to the incremental sensory head holder 141, and axial sensory ring 326 of the motor rotations and position rigidly connected to the rear face area of the latching ring 325; absolute sensor of the modular rotary intelligent drive position created by the sensory head 43 of the absolute position sensor, rigidly connected to the rear face area 41c of the gear module holder, and the absolute sensor sensory ring 34, rigidly connected to the front face area 33a of the front flange; the safety brake created by the electromagnetic solenoid 22 and the latching ring 325, rigidly connected to the rear face area 321c of the inlet element shaft; the electric rotary distribution created by the rotary performance PCB slide ring 523 with collecting energy fields and the static performance PCB slide ring 423 with transmissive energy brushes; and the rotary signal distribution 424 for signal transmission.

Figure 59 shows a horizontal sectional view of an example of the design of the modular rotary intelligent drive containing the design of the inlet module without connected holder of the incremental sensory head, with rigidly connected incremental sensory head of the motor rotations and position to its upper deck, the design of the brake module with connected incremental sensory head of the motor rotations and position, and the design of the gear module with the gear module inlet element, with connected radial incremental sensory ring of the motor rotations and position. The presented design of the modular rotary intelligent drive is designed by mutual connection of the design of the inlet module 1 without connected holder 141 of incremental sensory head with rigidly connected incremental sensory head 14 of the motor rotations and position to its upper deck, the design of the brake module 2 with connected incremental sensory head 14 of the motor rotations and position, the design of the gear module 3 with the gear module inlet element 32 with connected radial incremental sensory ring 327 of the motor rotations and position, the connecting module 4 and the output module 5 into functional compact unit, while the mutual connection of those modules is designed as follows: to the rear face area of the gear module rear flange 31 there is the inlet module shaft 11 rigidly connected, which is at the same time an anti-friction roller bearing, through the bearing 323 with double-ended sealing, tied to the gear module inlet element 32, containing the latching ring 325 with rigidly connected radial incremental sensory ring 327 of the motor rotations and position through rigidly connected brake module ring to the inlet module shaft 11 and with dismountably connected, by output cables of the electromagnetic solenoid 22 and output cables of the incremental sensory head 14 of the motor rotations and position to the inlet module control and performance board 15. After connecting the inlet module shaft 11 to the rear face area of the gear module rear flange 31 and insertion of the internal bear ring 323 with double-ended sealing into the outer cylindrical area 1 la of the inlet module shaft, the connecting module 4 is connected to the output energy cables 15 A, output communication cables 15B of CAN communication interface and the output cables 15C of the absolute sensor as follows: the output energy cables 15A are by dismountable connection connected to the performance switch board Faston connectors 4211; the output communication cables 15B of CAN communication interface are by dismountable connection connected to the inlet signal soldering areas 4222 of the static PCB slide ring; and the inlet cables 15C of the absolute sensor are by dismountable connection connected to the sensory head 43 of the absolute position sensor. Next, after the connection of the cables, the connecting module 4 is by rigid connection fixed to the face area 11c of the inlet module shaft, created on the inlet module shaft 11, and the output module 5 is, through the output module cover lid 51, rigidly connected to the front face area of the gear module output flange 33 and at the same time by the rotary PCB slide ring 521 with collecting energy and signal fields tied to the static PCB slide ring 422 with transmissive energy and signal brushes for signal and energy transmission. At the same time, by mutual interconnection of those modules, a motor is created by the motor stator 12 with rigidly connected hall sensors 121 to its coiling, and the steel ring 322 with integrated permanent magnets 3221, pressed-on into the internal cylindrical area 321a of the inlet element shaft; the radial incremental sensor of the motor rotations and position created by the incremental sensory head 14 of the motor position and rotations firmly connected to the internal face area 21a of the brake module ring, and radial sensory ring 327 of the motor position and rotations rigidly fixed to the rear face area of the latching ring 325; the absolute sensor of the modular rotary intelligent drive position, created by the sensory head 43 of the absolute position sensor, firmly fixed to the rear face area 41c of the connecting module holder, and the sensory ring 34 of the absolute sensor firmly fixed to the front face area 33a of the front flange; the safety brake created by the electromagnetic solenoid 22 and the latching ring 325, firmly fixed to the rear face area 321c of the shaft; and the electric rotary distribution for signal and energy transmission created by the rotary PCB slide ring 521 with collecting energy and signal fields and the static PCB slide ring 422 with transmissive energy and signal brushes for signal and energy transmission.

Industrial applicability

Suggested modular rotary intelligent drive is primarily intended for a wide area of robotic and manipulation technology, mainly for the group of industrial and service robots which use rotary drive units / modules to perform rotary and pendulous motion of their functional parts (arms, etc.). These kinds of motion are basic motions of robot kinematic structures and of the manipulation/handling devices.

Modular rotary intelligent drive is applicable essentially for the planning and assembly of manipulation/handling devices, rotating tables, joint/collaborative/industrial robots which are implemented into automated workplaces installed in limited operational spaces, among which there are the following - automotive industry / electrotechnical industry / pharmaceutical industry production workplaces as well as other industry branches, non-industrial branches, where there are high requirements of assembly simplicity, work precision, weight reduction, total build-up area dimensions and fluency of spatial motion of the manipulation/handling devices when performing the required work / manipulation / handling tasks.

By its functions and characteristics, the suggested modular rotary intelligent drive corresponds with the requirements of the planning and assembly of the intelligent rotary modules for robotic and automation technology through the use of rotary rings to transmiss signal, data and energy; erases problems of rotary cable distribution, by which it widens the drive's application implementation into all areas of automated mechatronic mechanisms.

Claims

PATENT CLAIMS

1. Modular rotary intelligent drive, characterized in that it consists of the following combination: the inlet module (1), containing: the inlet module shaft (11) with integrated ribbing (19) on its rear enclosed area (1 le) of the inlet module shaft and integrated opening (1 IB) of the inlet module shaft in its cylindrical area (1 Ih), the motor stator (12) with connected hall sensors (121) to its coiling, rigidly fixed to its outer cylindrical area (1 la) of the inlet module shaft and inserted, by its side, with connected hall sensors (121), to the front face area of the stator distance ring (13), the inlet module control and performance board (15), rigidly fixed to the face area (1 Id) of the inlet module shaft; the brake module (2), containing: the brake module ring (21) with integrated internal face area (21a) of the ring, the brake module electromagnetic solenoid (22); the gear module (3), containing: the absolute sensor sensory ring (34), rigidly fixed to the front face area (33a) of the front flange, the gear module inlet element (32), consisting of the inlet element shaft (321), with pressed- on steel ring (322) with integrated permanent magnets (3221), into the internal cylindrical area (321a) of the inlet element shaft, and with pressed-on bearing (323) with double-ended sealing into the internal cylindrical area (321b) of the inlet element shaft, and the latching ring (325), firmly fixed to the rear face area (321c) of the inlet element shaft; the connecting module (4), containing: the connecting module holder (41), with firmly fixed sensory ring (43) of the absolute sensor to its rear face area (41c), the transmissive unit (42) of energy and CAN communication interface, consisting of the transmissive unit performance switch board (421), rigidly fixed to the internal face area (41b) of the holder, and the static PCB slide ring (422) with transmissive energy and signal brushes for signal and energy transmission, firmly fixed to the front face area (41a) of the holder, or the transmissive unit performance switch board (421), firmly fixed to the internal face area (41b) of the holder, the static performance PCB slide ring (423) with transmissive

24 energy brushes, firmly fixed to the front face area (41a) of the holder, and the signal rotary distribution (424) for signal transmission, inserted by its rotary ring (4241) of the signal rotary distribution into the internal cylindrical area (4 Id) of the holder and at the same time fixed to the connecting module holder (41), or the transmissive unit performance switch board (421), firmly fixed to the internal face area (41b) of the holder, and the rotary PCB slide ring (521) with collecting energy and signal fields, firmly fixed to the front face area (41a) of the holder, or the transmissive unit performance switch board (421), firmly fixed to the internal face area (41b) of the holder, the rotary performance PCB slide ring (523) with collecting energy fields, firmly fixed to the front face area (41a) of the holder, and the signal rotary distribution (424) for signal transmission, inserted by its rotary ring (4241) of the signal rotary distribution into the internal cylindrical area (4 Id) of the holder and at the same time fixed to the connecting module holder (41); and the output module (5), containing; the output module cover lid (51), or the cover lid (51) created by the connection of the cover lid output lid (512) to the cover lid output ring (511), the accumulating unit (52) of energy and CAN communication interface consisting of the rotary PCB slide ring (521) with collecting energy and signal fields, firmly fixed to the internal face area (51b) of the cover lid or the internal face area (511b) of the output ring, and the accumulating unit output board (522), firmly fixed to the internal face area (51c) of the cover lid or the internal face area (511a) of the output ring, or the rotary performance PCB slide ring (523) with collecting energy fields, firmly fixed to the internal face area (51b) of the cover lid or the internal face area (511b) of the output ring, and the accumulating unit output board (522), firmly fixed to the internal face area (51c) of the cover lid or the internal face area (511a) of the output ring, or the static PCB slide ring (422) with transmissive energy and signal brushes for signal and energy transmission, firmly fixed to the internal face area (51b) of the cover lid or the internal face area (511b) of the output ring, and the accumulating unit output board (522), firmly fixed to the internal face area (51 c) of the cover lid or the font face area (511a) of the output ring, or the static performance PCB slide ring (423) with transmissive energy brushes, firmly fixed to the internal face area (51b) of the cover lid or the internal face area (511b) of the output ring, and the accumulating unit output board (522), firmly fixed to the internal face area (51c) of the cover lid or the front face area (511a) of the output ring. According to Claim 1 , the modular rotary intelligent drive is characterized in that the inlet module shaft (11) has got, on its outer cylindrical area, the inlet module shaft face planting (11b), and on its front area created the inlet module shaft face area (11c), and the inlet module shaft front area (1 If) on its rear enclosed area (1 le) of the inlet module shaft. According to Claim 2, the modular rotary intelligent drive is characterized in that the inlet module shaft (11) has got a cable opening (11C) with finished internal enclosed face area (11g) of the inlet module shaft created beginning at the face area (11c) of the inlet module shaft. According to Claim 2, the modular rotary intelligent drive is characterized in that the housing (17) for the ethernet connector, the housing (18) for the inlet feeding connector and the housing (16) for the communication connector, or the housing (18) for the inlet feeding connector and the housing (17) for the ethemet connector are firmly fixed to the rear face. According to Claim 1, the modular rotary intelligent drive is characterized in that the inlet module control and performance board (15) has got the integrated communication connector (154) for CAN communication interface, the ethemet connector (152) and the inlet feeding connector (153), or the inlet hybrid feeding and communication CAN connector (155) and the ethemet connector (152). According to Claims 4 and 5, the modular rotary intelligent drive is characterized in that the inlet module control and performance board (15) is the communication connector (154) for CAN communication interface, the ethernet connector (152) and the inlet feeding connector (153) inserted into the housing (17) for the ethernet connector, the housing (18) for the inlet feeding connector and the housing (16) for the communication connector, or it is the inlet hybrid feeding and communication CAN connector (155) and the ethemet connector (152) inserted into the housing (18) for the inlet feeding connector and the housing (17) for the ethemet connector. According to Claims 1 and 2, the modular rotary intelligent drive is characterized in that the incremental sensory head holder (141) is inserted into the outer cylindrical area (I la) and fixed by the latching screws (1411) to the face planting (1 lb) of the inlet module shaft by the rear face area (141a) of the incremental sensory head holder. According to Claims 1 , 2, or 7, the modular rotary intelligent drive is characterized in that the stator distance ring (13) is by the rear face area inserted either to the front face area (141) of the incremental sensory head holder, or to the face planting (11b) of the inlet module shaft. According to Claims 1 or 7, the modular rotary intelligent drive is characterized in that the incremental sensory head (14) of the motor rotations and position is rigidly connected to the incremental sensory head holder (141) or to the internal face area (21a) of the ring. According to Claim 1, the modular rotary intelligent drive is characterized in that the electromagnetic solenoid (22) of the brake module is rigidly connected to the electromagnetic solenoid holder (23), through which it is rigidly fixed to the ring face area (21a) and at the same time it is by its latching shaft (221) inserted into the ring opening (21 A), or the electromagnetic solenoid (22) of the brake module is rigidly connected to the brake module area (21c) created in the internal cylindrical are of the brake module ring (21), and at the same time is by its latching shaft (221) inserted into the opening (21 A), integrated into the face area (21a) of the brake module ring. According to Claim 1 , the modular rotary intelligent drive is characterized in that the axial incremental sensory ring (326) of the motor rotations and position or the radial incremental sensory ring (327) of the motor rotations and position is rigidly connected to the latching ring (325). According to Claim 1, the modular rotary intelligent drive is characterized in that the inlet element shaft (321) of the gear module has got the integrated direct feed (324) into the gear module transmission block (38) on its outer cylindrical area. According to Claim 1, the modular rotary intelligent drive is characterized in that the performance switch board (421) of the connecting module has got, on its front area, the Fasten connectors (4211) of the switch board integrated and, on its rear area, the output energy soldering areas (4212) of the switch board integrated. According to Claim 1, the modular rotary intelligent drive is characterized in that the accumulating unit output board (522) has got, on its front area, the output feeding connector (5222) and the output communication connector (5221) for CAN communication interface integrated, and, on its rear area, the inlet signal soldering areas (5223) and the inlet energy soldering areas (5224) integrated, or it has got, on its front area, the output feeding connector (5222), the output communication connector (5221) for CAN communication interface and the connecting signal connector (5225) integrated, and, on its rear area, the inlet energy soldering areas (5224) integrated. According to Claim 1, the modular rotary intelligent drive is characterized in that the output module cover lid (51) has got to its font face area (51a), or the cover lid output lid (512) has got to its front face area (512a), by rigid connection fixed the housing (55) for the

27 output feeding connector and the housing (54) for the output connector of CAN communication interface. According to Claim 1, the modular rotary intelligent drive is characterized in that the transmissive unit performance switch board (421) is either by rigid or dismountable or cable connection fixed to either static PCB slide ring (422) with transmissive energy and signal brushes for signal and energy transmission, or to static performance PCB slide ring (423) with transmissive energy brushes, or to the rotary PCB slide ring (521) with collecting energy and signal fields, or to the rotary performance PCB slide ring (523) with collecting energy fields. According to Claim 1, the modular rotary intelligent drive is characterized in that the accumulating unit output board (522) is by rigid, dismountable, or cable connection fixed to either the static PCB slide ring (422) with transmissive energy and signal brushes for signal and energy transmission, or to the static performance PCB slide ring (423) with transmissive energy brushes and to the signal rotary transmission (424) for signal transmission, or to the rotary performance PCB slide ring (521) with collecting energy and signal fields, or to the rotary performance PCB slide ring (523) with collecting energy fields and the signal rotary distribution (424) for signal transmission.

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