Robot drive with isolated optical encoder
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.
1. 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,
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.
2. A method as in claim 1 further comprising locating a seal of the at least one seal directly between the environment separation barrier and the housing of the motor assembly.
3. A method as in claim 1 further comprising connecting a first seal of the at least one seal directly between the environment separation barrier and the frame.
4. A method as in claim 3 further comprising locating a second seal of the at least one seal directly between the frame and the housing of the motor assembly.
5. 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,
where a barrier holder biases the environment separation barrier against a seal, and where the barrier holder is pressed by the frame towards the aperture.
6. A method as in claim 5 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.
7. A method as in claim 1 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.
8. A method as in claim 1 where the frame is not exposed to the first environmental area inside the housing.
9. A method as in claim 1 where the array of optical sensors comprises at least one camera.