Robot joint for intelligent joint angle measurement

Abstract

The invention relates to the technical field of power systems, in particular to a robot joint for intelligent joint angle measurement. Comprising a joint connecting mechanism, the joint connecting mechanism is connected with a first joint arm and a second joint arm, and the joint connecting mechanism is sleeved with a corrugated pipe; one end of the bellows is fixed to the first articulated arm, and the other end of the bellows is fixed to the second articulated arm; the laser reflection sensor comprises a laser emitter, a camera and a diffuse reflection sheet; the laser transmitter and the camera are arranged on the side wall of the same side of the concave part of the corrugated pipe, and the diffuse reflection sheet is arranged on the side wall of the other side of the concave part; the corrugated pipe is sleeved with a protective sleeve made of rubber, and the protective sleeve wraps the concave part. A cavity for accommodating a light path from the laser transmitter to the camera is defined by the protective sleeve and the concave part; the inner side of the protective sleeve is a black frosted surface; the bending angle is measured when the joint connecting mechanism is bent, and the operation accuracy of the robot arm is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a robot joint with intelligent joint angle measurement. Background Art

[0002] Robotic joints are core components of a robot's movement and task execution, similar to the function of human joints. They typically consist of multiple mechanical and electronic components, enabling the robot to perform complex movements. Because robot joints are so delicate, the ingress of dust or liquids can severely impact the robot's performance and service life, affecting the accuracy of the robot's movements. Therefore, these joints require protection.

[0003] However, after installing the protective device at the joint, the joint is blocked by the protective device after bending, making it difficult to measure the bending angle of the joint, affecting the motion accuracy and angle measurement of the robot arm. Summary of the Invention

[0004] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract of the specification and the title of the invention of this application to avoid blurring the purpose of this section, the abstract of the specification and the title of the invention, and such simplifications or omissions cannot be used to limit the scope of the invention.

[0005] In view of the above problems existing in the prior art, the present invention is proposed.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] A robot joint for intelligent joint angle measurement comprises a joint connection mechanism, wherein the joint connection mechanism connects a first joint arm and a second joint arm.

[0008] The outer cover of the joint connection mechanism is provided with a bellows;

[0009] One end of the bellows is fixed to the first joint arm, and the other end of the bellows is fixed to the second joint arm;

[0010] The bellows has a recessed portion, which is arranged outside the joint connection mechanism;

[0011] Also included is a laser reflection sensor, which includes a laser emitter, a camera, and a diffuse reflection sheet;

[0012] The laser emitter and the camera are arranged on the same side wall of the recessed portion of the corrugated tube, and the diffuse reflection sheet is arranged on the other side wall of the recessed portion;

[0013] The laser of the laser emitter is emitted toward the diffuse reflection sheet to form a light spot, and the camera captures the light spot on the diffuse reflection sheet;

[0014] The upper ends of the laser emitter, camera and diffuse reflector are positioned lower than the top ends of the side walls on both sides of the concave portion of the corrugated tube;

[0015] The outer shell of the bellows is provided with a protective cover made of rubber material, and the protective cover covers the recessed portion, the laser emitter and the camera;

[0016] A cavity is formed by the protective cover and the recessed portion to accommodate the optical path from the laser emitter to the camera;

[0017] The inside of the protective case is matte black.

[0018] The above design first sets a bellows to cover the joint connection mechanism, and the two ends of the bellows wrap the two joint arms, which can protect the joint connection mechanism and also play a certain damping role on the joint when the joint connection mechanism bends, thereby improving the accuracy of the robot arm operation; then a laser reflection sensor is set, and when the joint connection mechanism bends, the light spot of the laser emitter on the diffuse reflection sheet changes. The camera captures the changed light spot and transmits the data of the light spot with changed position and size to the computer. After calculation by the computer, the bending angle is obtained, so that the bending angle is measured when the joint connection mechanism bends, thereby improving the accuracy of the robot arm operation; finally, a protective cover is set, which can prevent dust or moisture from falling onto the lens or diffuse reflection sheet of the camera, thereby ensuring the stable operation of the camera and the long-term accuracy of the robot arm operation. At the same time, the inside of the protective cover is a black matte surface to prevent reflected light from affecting the accuracy of the camera shooting.

[0019] The computer can determine the angular relationship in at least one dimension between the first articulated arm and the second articulated arm linked to the joint connection mechanism by sensing and analyzing the light spot path on the diffuse reflection sheet.

[0020] The joint connection mechanism adopts a two-dimensional rotation mechanism, and the laser emitter has a two-dimensional light spot path, and the two-dimensional light spot paths are both within the diffuse reflection sheet of the camera.

[0021] The computer can determine the angular relationship in two dimensions between the first articulated arm and the second articulated arm linked to the joint connection mechanism by sensing and analyzing the light spot path on the diffuse reflection sheet.

[0022] The joint connection mechanism adopts a cross joint connection mechanism.

[0023] Through a simple and low-cost sensor system, high-speed, high-precision, and high-reliability angle data collection of multiple dimensions of robot joint movement can be achieved, thereby improving the accuracy of robot arm operation.

[0024] Preferably, the camera's field of view covers the diffuse reflector; the laser emitter's spot path is within the diffuse reflector; the laser emitter emits a conical beam, and when the laser emitter on the sidewall of the recessed portion is close to the diffuse reflector on the same sidewall of the recessed portion, the light spot on the diffuse reflector shifts and becomes larger, and the camera records data on changes in the light spot on the diffuse reflector. The camera can stably record changes in the laser emitter's conical beam, and the changes in the conical beam are more pronounced after the robot joint bends. The camera also captures more accurate light spots, thereby improving the accuracy of bending angle measurement when the joint connection mechanism bends.

[0025] Preferably, the camera is positioned in the middle of the side wall of the recessed portion; when the first and second articulated arms are extended horizontally, the laser emitter shines directly onto the diffuse reflector. The camera is positioned in the middle of the side of the recessed portion. When the first and second articulated arms of the joint connection mechanism change angles, the camera's field of view changes minimally, thereby preventing omissions in the image captured by the camera. Furthermore, when the first and second articulated arms are extended horizontally, the laser emitter shines directly onto the diffuse reflector. By rotating the light spot in two dimensions, changes in the light spot can be recorded. The ability to record multiple angles facilitates operation of the device.

[0026] Preferably, the bellows is lined with a spring, referred to as a lining spring, with both ends of the lining spring connected to connection plates at either end of the bellows. The lining spring props up the bellows from the inner wall, preventing it from buckling when bent, which could affect the accuracy of the laser transmitter, camera, and diffuse reflector in measuring joint bending.

[0027] Preferably, the inner diameter of the bellows is greater than the outer diameter of the articulated arm. The device further includes a fixing mechanism for securing the bellows, the fixing mechanism being detachably mounted on the outer side of the articulated arm. Each articulated arm is provided with a fixing mechanism. By providing a detachable fixing mechanism, the fixing mechanism can adjust the position of the bellows, ensuring that the bellows can be stably adjusted so that the concave portion of the bellows is aligned with the midpoint of the articulated connection mechanism, thereby improving the accuracy of the laser reflection sensor in measuring the bellows' bending.

[0028] Preferably, both ends of the bellows are provided with structures for mounting the bellows, known as connecting discs; one connecting disc is mounted on the first articulated arm, and the other connecting disc is mounted on the second articulated arm; the fixing mechanism is provided with a circular disc structure, known as a fixing ring, that cooperates with the connecting discs, and the fixing rings are provided on both the first and second articulated arms; the fixing rings are connected to the connecting discs via a threaded structure. The provision of connecting discs facilitates the fixing mechanism to secure the bellows, making it less susceptible to bending during bending. It also facilitates the fixing mechanism to adjust the fixed position of the bellows, thereby improving the accuracy of the laser reflection sensor in measuring the bending of the bellows.

[0029] Preferably, the fixing mechanism is provided with a splicing structure, wherein at least two splicing structures are spliced ​​together to form a fixing ring; the fixing ring formed by the at least two splicing structures is fixedly connected by bolts and nuts. The splicing structure is used to form a fixing ring, which is connected to the connecting plate by a threaded structure, thereby ensuring a stable connection between the fixing mechanism and the connecting plate. Secondly, the splicing structure is used to form a fixing ring, which facilitates the removal and installation of the fixing ring.

[0030] Preferably, a rubber pad is provided on the inner ring of the splicing structure and is embedded in the splicing structure; a rubber ring is provided between the fixing ring and the connecting plate. The rubber pad ensures the sealing and stability of the connection between the fixing ring and the first and second articulated arms, while the rubber ring ensures the sealing and stability of the connection between the fixing ring and the connecting plate, preventing dust from entering the joint connection mechanism or affecting the accuracy of camera operation.

[0031] Preferably, the height of the cavity formed by the protective cover and the recessed portion is 5-8 cm; the width of the center portion of the cavity where the laser emitter, camera, and diffuse reflector are located is 2-4 cm, ensuring that the cavity can effectively accommodate the laser emitter, camera, and diffuse reflector.

[0032] Preferably, a spring bar is inserted into the protective cover, and the spring bar is configured as an arc-shaped spring bar that protrudes outward from the recessed portion. The ends of the spring bar are connected to the outer surface of the bellows. This prevents the bellows from collapsing when bent, and also prevents the protective cover from compressing inward against the laser emitter, camera, or diffuse reflector, thereby ensuring stable operation of the laser reflection sensor.

[0033] Preferably, the light spot path of the laser emitter is within the diffuse reflection sheet.

[0034] Preferably, the outer surface of the corrugated tube is set to a black painted frosted surface. The black painted frosted surface prevents reflected light from affecting the accuracy of the diffuse reflector of the camera receiving light. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be derived from these drawings without inventive work. Among them:

[0036] Figure 1 A schematic diagram of the internal structure of a robot joint for intelligent joint angle measurement according to the present invention;

[0037] Figure 2 This is a schematic diagram of the appearance structure of the robot joint for intelligent joint angle measurement of the present invention;

[0038] Figure 3 This is a schematic side view of the bellows structure of the robot joint for intelligent joint angle measurement of the present invention. DETAILED DESCRIPTION

[0039] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0040] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0041] Next, the present invention is described in detail with reference to schematic diagrams. For ease of illustration, when describing embodiments of the present invention, cross-sectional views illustrating device structures may be partially enlarged and not to scale. Furthermore, these schematic diagrams are merely illustrative and should not limit the scope of protection of the present invention. Furthermore, in actual production, three-dimensional dimensions, including length, width, and depth, should be included.

[0042] Furthermore, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in less than one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it necessarily refer to a single embodiment or a selective embodiment that is mutually exclusive of other embodiments.

[0043] Example 1

[0044] refer to Figure 1-Figure 2 The robot joint for intelligent joint angle measurement includes a joint connection mechanism connecting a first joint arm 1 and a second joint arm 2.

[0045] The outer shell of the joint connection mechanism is provided with a bellows 3;

[0046] One end of the bellows 3 is fixed to the first articulated arm 1, and the other end of the bellows 3 is fixed to the second articulated arm 2;

[0047] The bellows 3 has a recessed portion, which is arranged outside the joint connection mechanism;

[0048] It also includes a laser reflection sensor, which includes a laser emitter 4, a camera 5 and a diffuse reflection sheet 6;

[0049] The laser emitter 4 and the camera 5 are arranged on the same side wall of the recessed portion of the corrugated tube 3, and the diffuse reflection sheet 6 is arranged on the other side wall of the recessed portion;

[0050] The laser from the laser transmitter 4 is directed toward the diffuse reflector 6 to form a light spot, and the camera 5 captures the light spot on the diffuse reflector 6;

[0051] The upper ends of the laser emitter 4, the camera 5 and the diffuse reflector 6 are located lower than the top ends of the side walls on both sides of the recessed portion of the corrugated tube 3;

[0052] The bellows 3 is covered with a rubber protective cover 7, which covers the recessed portion, the laser emitter 4 and the camera 5;

[0053] A cavity is formed by the protective cover 7 and the recessed portion to accommodate the optical path from the laser emitter 4 to the camera 5;

[0054] The inner side of the protective cover 7 is a black frosted surface.

[0055] The above design first sets a bellows 3 for the joint connection mechanism, and the two ends of the bellows 3 wrap around the two joint arms, which can protect the joint connection mechanism and also play a certain damping role on the joint when the joint connection mechanism bends, thereby improving the accuracy of the robot arm operation; then a laser reflection sensor is set, and when the joint connection mechanism bends, the light spot of the laser emitter 4 on the diffuse reflection sheet 6 changes, the camera captures the changed light spot, and transmits the data of the light spot with changed position and size to the computer, and the bending angle is obtained after calculation by the computer, so as to measure the bending angle when the joint connection mechanism bends, thereby improving the accuracy of the robot arm operation; finally, a protective cover 7 is set, and the protective cover 7 can prevent dust or moisture from falling onto the lens of the camera 5 or the diffuse reflection sheet 6, thereby ensuring the stable operation of the camera 5 and the long-term accuracy of the robot arm operation. At the same time, the inner side of the protective cover 7 is a black frosted surface to prevent reflected light from affecting the accuracy of the camera 5 shooting.

[0056] By sensing and analyzing the light spot path on the diffuse reflector 6 , the computer can determine the angular relationship between the first articulated arm 1 and the second articulated arm 2 linked to the joint connection mechanism in at least one dimension.

[0057] The joint connection mechanism adopts a two-dimensional rotation mechanism, and the laser emitter 4 has a two-dimensional light spot path, and the two-dimensional light spot paths are both within the diffuse reflection sheet 6 of the camera 5.

[0058] By sensing and analyzing the light spot path on the diffuse reflector 6 , the computer can determine the angular relationship in two dimensions between the first articulated arm 1 and the second articulated arm 2 linked to the joint connection mechanism.

[0059] The joint connection mechanism adopts a cross joint connection mechanism.

[0060] Through a simple and low-cost sensor system, high-speed, high-precision, and high-reliability angle data collection of multiple dimensions of robot joint movement can be achieved, thereby improving the accuracy of robot arm operation.

[0061] The camera 5's field of view covers the diffuse reflector 6; the laser emitter 4's spot path is within the diffuse reflector 6. The laser emitter 4 emits a conical beam. When the laser emitter 4 on the sidewall of the recess approaches the diffuse reflector 6 on the same sidewall of the recess, the light spot on the diffuse reflector 6 shifts and becomes larger. The camera 5 records the changes in the light spot on the diffuse reflector 6. The camera 5 can stably record the changes in the laser emitter 4's conical beam. The changes in the conical beam are more pronounced after the robot joint bends, and the light spot captured by the camera 5 is more accurate, improving the accuracy of bending angle measurement when the joint connection mechanism is bent.

[0062] The camera 5 is arranged in the middle of the side wall of the recessed portion; when the first articulated arm 1 and the second articulated arm 2 are extended horizontally, the laser emitter 4 directly shines on the diffuse reflector 6. The camera 5 is located in the middle of the side of the recessed portion. When the angles of the first articulated arm 1 and the second articulated arm 2 of the joint connection mechanism change, the camera 5's field of view changes little, preventing omissions in the images taken by the camera 5. When the first articulated arm 1 and the second articulated arm 2 are extended horizontally, the laser emitter 4 directly shines on the diffuse reflector 6. When the first articulated arm 1 and the second articulated arm 2 are rotated horizontally, the changes in the light spot can be recorded. The ability to record multiple angles makes the device more convenient to operate.

[0063] During use, when the robot arm bends, the angle between the first articulated arm 1 and the second articulated arm 2 is displaced, and the light spot of the laser emitter 4 on the diffuse reflection sheet 6 changes. The camera captures the changed light spot and transmits the light spot data with changed position and size to the computer. The bending angle is obtained after calculation by the computer, so that the bending angle is measured when the joint connection mechanism is bent, thereby improving the accuracy of the robot arm operation. The protective cover 7 can prevent dust or moisture from falling onto the lens of the camera 5 or the diffuse reflection sheet 6, ensuring the stable operation of the camera 5. The camera 5 can stably record the changes in the conical light beam of the laser emitter 4. The light spot change of the conical light beam is more obvious after the robot joint is bent, thereby improving the accuracy of the bending angle measurement when the joint connection mechanism is bent.

[0064] Example 2

[0065] refer to Figure 1-Figure 3 , which is the second embodiment of the present invention, and this embodiment is based on the previous embodiment.

[0066] The inner diameter of the bellows 3 is larger than the outer diameter of the articulated arm. The device also includes a fixing mechanism 8 for securing the bellows 3. The fixing mechanism 8 is detachably mounted on the outside of the articulated arm; each articulated arm is provided with a fixing mechanism 8. By providing a detachable fixing mechanism 8, the fixing mechanism 8 can adjust the position of the bellows 3, ensuring that the bellows 3 can be stably adjusted so that the concave portion of the bellows 3 is aligned with the midpoint of the articulated connection mechanism, thereby improving the accuracy of the laser reflection sensor in measuring the bending of the bellows 3.

[0067] Bellows 3 is lined with a spring, called an inner lining spring, whose ends are connected to connection plates 31 at either end of the bellows 3. The inner lining spring props up the bellows 3 from the inner wall, preventing it from buckling when bent, which could affect the accuracy of joint bending measurements by the laser emitter 4, camera 5, and diffuse reflector 6.

[0068] Both ends of the bellows 3 are equipped with structures for mounting the bellows 3, known as connecting discs 31. One connecting disc 31 is mounted on the first articulated arm 1, and the other connecting disc 31 is mounted on the second articulated arm 2. The fixing mechanism 8 is equipped with a circular disc structure, known as a fixing ring, that cooperates with the connecting discs 31. The fixing rings are provided on both the first articulated arm 1 and the second articulated arm 2. The fixing rings are connected to the connecting discs 31 via a threaded structure. The provision of connecting discs 31 facilitates the fixing mechanism 8 to secure the bellows 3, preventing it from bending. It also allows the fixing mechanism 8 to adjust the position of the bellows 3, improving the accuracy of the laser reflection sensor in measuring the bending of the bellows 3.

[0069] The fixing mechanism 8 is provided with a splicing structure 81. At least two splicing structures 81 are assembled into a fixing ring. The fixing ring formed by at least two splicing structures 81 is fixedly connected by bolts and nuts. The splicing structures 81 form a fixing ring, which is connected to the connecting plate 31 via a threaded structure, thereby ensuring a stable connection between the fixing mechanism 8 and the connecting plate 31. Secondly, the splicing structures 81 form a fixing ring that facilitates the removal and installation of the fixing ring.

[0070] A rubber pad 82 is embedded within the inner ring of the joint structure 81, and a rubber ring is provided between the retaining ring and the connecting plate 31. The rubber pad 82 ensures a tight and stable connection between the retaining ring and the first and second articulated arms 1 and 2, while the rubber ring ensures a tight and stable connection between the retaining ring and the connecting plate 31, preventing dust from entering the joint connection mechanism or affecting the accuracy of the camera 5.

[0071] The height of the cavity formed by the protective cover 7 and the recessed portion is 5-8 cm. The width of the center of the cavity where the laser emitter 4, camera 5, and diffuse reflector 6 are located is 2-4 cm. This ensures that the cavity can effectively accommodate the laser emitter 4, camera 5, and diffuse reflector 6.

[0072] A spring bar is inserted into the protective cover 7. The spring bar is configured as an arc-shaped spring bar that bulges outward from the recessed portion. Both ends of the spring bar are connected to the outer surface of the bellows 3. This prevents the bellows 3 from collapsing when bent and prevents the protective cover 7 from compressing inward against the laser emitter 4, camera 5, or diffuse reflector 6, thereby ensuring stable operation of the laser reflection sensor.

[0073] The light spot path of the laser emitter 4 is inside the diffuse reflection sheet 6 .

[0074] The outer surface of the bellows 3 is set to a black painted frosted surface. The black painted frosted surface prevents reflected light from affecting the accuracy of the diffuse reflection sheet 6 of the camera 5 receiving light.

[0075] During use, by setting a detachable fixing mechanism 8, the fixing mechanism 8 can adjust the position of the fixed bellows 3 to ensure that the bellows 3 can stably adjust the recessed part of the bellows 3 to the midpoint of the joint connection mechanism, and by setting a connecting plate 31, it is convenient for the fixing mechanism 8 to fix the bellows 3, so that the bellows 3 is not easy to bend when bending. The bellows 3 can be propped up from the inner wall by the lining spring to prevent the bellows 3 from sinking and bending when bending. The sealing and stability of the connection between the fixing ring sleeve and the first joint arm 1 and the second joint arm 2 are ensured by setting a rubber pad 82. The rubber ring ensures the sealing and stability of the connection between the fixing ring and the connecting plate 31. The black painted frosted surface prevents reflected light from affecting the accuracy of the diffuse reflection plate 6 of the camera 5 in receiving light.

[0076] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A robot joint for intelligent joint angle measurement, comprising a joint connection mechanism connecting a first joint arm and a second joint arm, characterized in that: The outer cover of the joint connection mechanism is provided with a bellows; One end of the bellows is fixed to the first joint arm, and the other end of the bellows is fixed to the second joint arm; The bellows has a recessed portion, which is arranged outside the joint connection mechanism; It also includes a laser reflection sensor, which includes a laser emitter, a camera and a diffuse reflection sheet; The laser emitter and the camera are arranged on the same side wall of the recessed portion of the corrugated tube, and the diffuse reflection sheet is arranged on the other side wall of the recessed portion; The laser of the laser emitter is emitted toward the diffuse reflection sheet to form a light spot, and the camera captures the light spot on the diffuse reflection sheet; The upper ends of the laser emitter, camera and diffuse reflector are positioned lower than the top ends of the side walls on both sides of the concave portion of the corrugated tube; The outer shell of the bellows is provided with a protective cover made of rubber material, and the protective cover covers the recessed portion, the laser emitter and the camera; A cavity is formed by the protective cover and the recessed portion to accommodate the optical path from the laser emitter to the camera; The inside of the protective case is matte black.

2. The robot joint with intelligent joint angle measurement according to claim 1, characterized in that: The camera's field of view covers the diffuse reflection sheet; The light spot path of the laser emitter is within the diffuse reflection sheet; The light beam emitted by the laser emitter is a conical light beam. The laser emitter on the side wall of the recess is close to the diffuse reflection sheet on the same side wall of the recess. The light spot on the diffuse reflection sheet is offset and becomes larger. The camera captures and records the light spot change data on the diffuse reflection sheet.

3. The robot joint with intelligent joint angle measurement according to claim 1, characterized in that: The camera is arranged in the middle position of the side wall of the recessed portion; When the first articulated arm and the second articulated arm are extended horizontally, the laser emitter directly shines onto the diffuse reflection sheet.

4. The robot joint with intelligent joint angle measurement according to claim 1, characterized in that: The inner diameter of the bellows is greater than the outer diameter of the articulated arm; It also includes a fixing mechanism for fixing the bellows, wherein the fixing mechanism is detachably mounted on the outside of the articulated arm; Each articulated arm is respectively provided with a fixing mechanism.

5. The robot joint with intelligent joint angle measurement according to claim 4, characterized in that: Both ends of the bellows are provided with structures for mounting the bellows, which are called connecting plates; One connecting plate is sleeved with the first joint arm, and the other connecting plate is sleeved with the second joint arm; The fixing mechanism is provided with a disc structure which cooperates with the connecting disc and is called a fixing ring. The first joint arm and the second joint arm are both provided with a fixing ring. The fixing ring is connected to the connecting plate through a threaded structure.

6. The robot joint with intelligent joint angle measurement according to claim 4, characterized in that: The fixing mechanism is provided with a splicing structure, and at least two splicing structures are spliced ​​together to form a fixing ring; The fixing ring formed by at least two splicing structures is fixedly connected by bolts and nuts.

7. The robot joint with intelligent joint angle measurement according to claim 6, characterized in that: The inner ring of the splicing structure is provided with a rubber pad, and the rubber pad is embedded in the splicing structure; A rubber ring is provided between the fixing ring and the connecting disk.

8. The robot joint with intelligent joint angle measurement according to claim 1, characterized in that: The height of the cavity formed by the protective cover and the recessed portion is 5-8 cm; The width of the position where the laser emitter, camera and diffuse reflection sheet are set in the middle of the cavity is 2-4 cm.

9. The robot joint with intelligent joint angle measurement according to claim 1, characterized in that: A spring bar is inserted into the protective cover, and the spring bar is configured as an arc-shaped spring bar protruding outward from the recessed portion; Both ends of the spring bar are connected to the outer surface of the bellows.

10. The robot joint with intelligent joint angle measurement according to claim 1, characterized in that: The outer surface of the bellows is set to a black painted matte surface.

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