Robotic joint with intelligent joint angle measurement

Abstract

The present application relates to the technical field of power system, especially to a robot joint for intelligent joint angle measurement; comprising a joint connecting mechanism, the joint connecting mechanism connects a first joint arm and a second joint arm, and a bellows is arranged on the joint connecting mechanism; 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; further comprising a laser reflection sensor, the laser reflection sensor comprises a laser emitter, a camera and a diffuse reflector; the laser emitter and the camera are arranged on the same side wall of the concave part of the bellows, and the diffuse reflector is arranged on the other side wall of the concave part; a protective sleeve made of rubber is arranged on the bellows, and the protective sleeve wraps the concave part; a cavity for accommodating the light path from the laser emitter to the camera is formed by the protective sleeve and the concave part; the inner side of the protective sleeve is a black frosted surface; the joint connecting mechanism is bent to measure the bending angle, thereby improving the accuracy of the operation of the robot arm.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a robot joint for intelligent joint angle measurement. Background Technology

[0002] Robot joints are one of the core components for robot movement and task execution, functioning similarly to human joints. Robot joints typically consist of multiple mechanical and electronic components, enabling the robot to perform complex movements. Because robot joints are quite delicate, dust or liquids entering them can severely impact the robot's performance and lifespan, affecting the accuracy of the robot arm's operation. Therefore, protecting the robot arm's joints is essential.

[0003] However, after installing protective devices at the joints, the bending angle of the joints is blocked by the protective devices, making it difficult to measure the bending angle of the joints, which affects the accuracy of the robot arm's movement and angle measurement. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of the embodiments of the present invention and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section, as well as in the abstract and title of the present application, to avoid obscuring the purpose of this section, the abstract and title of the invention. Such simplifications or omissions shall not be used to limit the scope of the present invention.

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

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution;

[0007] A robot joint for intelligent joint angle measurement includes a joint connection mechanism that connects a first joint arm and a second joint arm.

[0008] The joint connection mechanism is fitted 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 located on the outside of the joint connection mechanism.

[0011] It also includes a laser reflection sensor, which comprises a laser emitter, a camera, and a diffuser.

[0012] The laser emitter and the camera are disposed on the same side wall of the recessed portion of the bellows, and the diffuse reflector is disposed on the other side wall of the recessed portion.

[0013] The laser emitted by the laser emitter is directed towards the diffuse reflector to form a light spot, and the camera captures the light spot on the diffuse reflector.

[0014] The upper ends of the laser emitter, camera, and diffuse reflector are lower than the tops of the sidewalls on both sides of the bellows recess.

[0015] The corrugated pipe is fitted with a rubber protective sleeve, which covers the recessed area, as well as the laser emitter and the camera.

[0016] The protective sleeve and recess form a cavity that houses the laser emitter's optical path to the camera;

[0017] The inside of the protective case has a black matte finish.

[0018] The above design firstly protects the joint connection mechanism by incorporating a corrugated tube that wraps around both ends of the joint arm, providing damping when the mechanism bends and improving the accuracy of the robot arm's operation. Secondly, a laser reflection sensor is installed. When the joint connection mechanism bends, the laser emitter's spot on the diffuse reflector changes. The camera captures this change and transmits the data (position and size of the changed spot) to a computer. The computer calculates the bending angle, allowing for precise measurement of the bending angle during joint bending, further enhancing the robot arm's accuracy. Finally, a protective sleeve prevents dust or moisture from falling onto the camera lens or diffuse reflector, ensuring stable camera operation and long-term accuracy of the robot arm. The inner side of the protective sleeve has a matte black finish to prevent reflected light from affecting the camera's accuracy.

[0019] By sensing and analyzing the light spot path on the diffuse reflector, the computer can determine the angular relationship between the first and second joint arms, which are linked to the joint connection mechanism, in at least one dimension.

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

[0021] By sensing and analyzing the light spot path on the diffuse reflector, the computer can determine the angular relationship between the first and second joint arms, which are linked to the joint connection mechanism, in two dimensions.

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

[0023] By using a simple, low-cost sensor system, high-speed, high-precision, and high-reliability multi-dimensional angular data acquisition of robot joint movements 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 beam path is within the diffuse reflector; the laser emitter emits a conical beam; the laser emitter on the sidewall of the recessed portion is closer to the diffuse reflector on the same sidewall of the recessed portion, causing the beam spot on the diffuse reflector to shift and become larger; the camera captures and records the beam spot change data on the diffuse reflector. The camera can stably record the changes in the conical beam of the laser emitter. The beam spot change is more pronounced after the robot joint bends, and the beam spot captured by the camera is more accurate, 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 recess; when the first and second articulated arms are extended horizontally, the laser emitter shines directly onto the diffuse reflector. With the camera positioned in the middle of the side of the recess, the change in the camera's field of view is minimal when the angles of the first and second articulated arms of the joint connection mechanism change, preventing omissions in the captured images. When the first and second articulated arms are extended horizontally, the laser emitter shines directly onto the diffuse reflector. Rotating the camera at a two-dimensional angle allows for the recording of changes in the light spot, making the device more convenient to operate and enabling recording from multiple angles.

[0026] Preferably, the bellows is lined with a spring, referred to as an inner lining spring, with its two ends connected to connecting discs at both ends of the bellows. The inner lining spring supports the bellows from its inner wall, preventing it from buckling and bending when bent, which would affect the accuracy of the laser emitter, camera, and diffuse reflector in measuring joint bending.

[0027] Preferably, the inner diameter of the bellows is larger than the outer diameter of the articulated arm; it also includes a fixing mechanism for fixing the bellows, which is detachably mounted on the outside of the articulated arm; each articulated arm is provided with one fixing mechanism. By providing a detachable fixing mechanism, the fixing mechanism can adjust the position of the bellows, ensuring that the concave part of the bellows can be stably adjusted to the midpoint of the articulated connection mechanism, thereby improving the accuracy of the laser reflection sensor in measuring the bending of the bellows.

[0028] Preferably, both ends of the corrugated pipe are provided with a structure for mounting the corrugated pipe, called a connecting plate; one connecting plate is fitted with a first joint arm, and the other connecting plate is fitted with a second joint arm; the fixing mechanism is provided with a disc structure called a fixing ring that cooperates with the connecting plate, and fixing rings are provided on both the first and second joint arms; the fixing rings are connected to the connecting plate through a threaded structure. The connecting plate facilitates the fixing mechanism in fixing the corrugated pipe, making it less prone to bending when bent, and also allows the fixing mechanism to adjust the position of the fixed corrugated pipe, improving the accuracy of the laser reflection sensor in measuring the bending of the corrugated pipe.

[0029] Preferably, the fixing mechanism is provided with a splicing structure, and at least two splicing structures are assembled to form a fixing ring; the fixing ring formed by at least two splicing structures is fixedly connected by bolts and nuts. The fixing ring, assembled by splicing structures, is connected to the connecting plate by a threaded structure, thereby ensuring the stability of the connection between the fixing mechanism and the connecting plate. Furthermore, the splicing structure facilitates the disassembly and installation of the fixing ring.

[0030] Preferably, a rubber pad is provided on the inner ring of the splicing structure, and the rubber pad 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 joint arm and the second joint arm, and 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 the camera operation.

[0031] Preferably, the height of the cavity formed by the protective sleeve and the recess is 5-8 cm; the width of the area in the middle of the cavity where the laser emitter, camera, and diffuser are located is 2-4 cm. This ensures that the cavity can effectively accommodate the laser emitter, camera, and diffuser.

[0032] Preferably, a spring strip is interspersed within the protective sleeve, and the spring strip is configured as an arc-shaped spring strip protruding outward from the recessed portion; both ends of the spring strip are connected to the outer surface of the corrugated pipe. This prevents the corrugated pipe from collapsing when bent, and also prevents the protective sleeve from shrinking inward and pressing against the laser emitter, camera, or diffuse reflector, ensuring the stable operation of the laser reflection sensor.

[0033] Preferably, the laser emitter's beam path lies within the diffuse reflector.

[0034] Preferably, the outer surface of the corrugated pipe is finished with a black painted matte surface. The black painted matte surface prevents reflected light from affecting the accuracy of light reception by the camera's diffuse reflector. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

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

[0037] Figure 2 This is a schematic diagram of the external structure of the robot joint for intelligent joint angle measurement according to the present invention.

[0038] Figure 3 This is a schematic diagram of the bellows side view structure of the robot joint for intelligent joint angle measurement according to the present invention. Detailed Implementation

[0039] To make the above-mentioned objectives, features and advantages of the present invention more readily understood, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0040] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0041] Secondly, the present invention will be described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure will be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0042] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in less than one implementation of the invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single embodiment or an embodiment selectively excluded from other embodiments.

[0043] Example 1

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

[0045] The joint connection mechanism is fitted with a bellows 3;

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

[0047] The bellows 3 has a recessed portion, which is located on the outside of the joint connection mechanism.

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

[0049] The laser emitter 4 and the camera 5 are located on the same side wall of the recessed part of the bellows 3, and the diffuse reflector 6 is located on the other side wall of the recessed part.

[0050] The laser emitted by the laser emitter 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, camera 5, and diffuse reflector 6 are lower than the tops of the side walls on both sides of the recessed part of the bellows 3.

[0052] The corrugated pipe 3 is covered with a rubber protective sleeve 7, which covers the recessed part, as well as the laser emitter 4 and the camera 5;

[0053] The protective sleeve 7 and the recessed part form a cavity to accommodate the optical path from the laser emitter 4 to the camera 5;

[0054] The inside of the protective case 7 has a black matte finish.

[0055] The above design firstly involves setting up a corrugated tube 3 to encase the joint connection mechanism. The two ends of the corrugated tube 3 wrap around the two joint arms, which can protect the joint connection mechanism and also provide a certain damping effect on the joint when the joint connection mechanism bends, thereby improving the accuracy of the robot arm's operation. Secondly, a laser reflection sensor is set up. When the joint connection mechanism bends, the light spot of the laser emitter 4 changes on the diffuse reflector 6. The camera captures the changed light spot and transmits the data of the light spot with changed position and size to the computer. After the computer calculates, it obtains the bending angle, thereby measuring the bending angle when the joint connection mechanism bends, which improves the accuracy of the robot arm's operation. Finally, a protective sleeve 7 is set up. The protective sleeve 7 can prevent dust or moisture from falling onto the lens of the camera 5 or the diffuse reflector 6, ensuring the stable operation of the camera 5 and ensuring the long-term accuracy of the robot arm's operation. At the same time, the inner side of the protective sleeve 7 is made of black frosted surface to prevent reflected light from affecting the accuracy of the camera 5's 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 joint arm 1 and the second joint arm 2, which are linked to the joint connection mechanism, in at least one dimension.

[0057] The joint connection mechanism adopts a two-dimensional rotation mechanism. The laser emitter 4 has a two-dimensional light spot path, and both light spot paths are within the diffuse reflector 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 between the first joint arm 1 and the second joint arm 2, which are linked to the joint connection mechanism, in two dimensions.

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

[0060] By using a simple, low-cost sensor system, high-speed, high-precision, and high-reliability multi-dimensional angular data acquisition of robot joint movements can be achieved, thereby improving the accuracy of robot arm operation.

[0061] The field of view of camera 5 covers diffuse reflector 6; the beam path of laser emitter 4 is within diffuse reflector 6; the beam emitted by laser emitter 4 is a conical beam. Laser emitter 4 on the sidewall of the recessed portion is close to the diffuse reflector 6 on the same sidewall of the recessed portion, causing the beam spot on diffuse reflector 6 to shift and become larger. Camera 5 records the changes in the beam spot on diffuse reflector 6. Camera 5 can stably record the changes in the conical beam of laser emitter 4. The changes in the beam spot are more pronounced after the robot joint bends, and the beam spot captured by camera 5 is more accurate, improving the precision of bending angle measurement when the joint connection mechanism bends.

[0062] Camera 5 is positioned in the middle of the side wall of the recess; when the first joint arm 1 and the second joint arm 2 are extended horizontally, the laser emitter 4 shines directly onto the diffuse reflector 6. Because camera 5 is located in the middle of the side of the recess, the field of view of camera 5 changes little when the angle of the first joint arm 1 and the second joint arm 2 of the joint connection mechanism changes, preventing omissions in the images captured by camera 5. When the first joint arm 1 and the second joint arm 2 are extended horizontally, the laser emitter 4 shines directly onto the diffuse reflector 6. Rotating to a two-dimensional angle allows for the recording of changes in the light spot, making the device more convenient to operate and enabling recording from multiple angles.

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

[0064] Example 2

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

[0066] The inner diameter of the bellows 3 is larger than the outer diameter of the articulated arm; it also includes a fixing mechanism 8 for fixing the bellows 3, which is detachably installed on the outside of the articulated arm; each articulated arm is provided with a fixing mechanism 8. By setting the detachable fixing mechanism 8, the fixing mechanism 8 can adjust the position of the bellows 3, ensuring that the concave part of the bellows 3 can be stably adjusted to the midpoint of the joint connection mechanism, thereby improving the accuracy of the laser reflection sensor in measuring the bending of the bellows 3.

[0067] The bellows 3 is lined with a spring, called the inner lining spring, and the two ends of the inner lining spring are respectively connected to the connecting discs 31 at both ends of the bellows 3. The inner lining spring can support the bellows 3 from the inner wall, preventing the bellows 3 from collapsing and bending when bending, which would affect the accuracy of the laser emitter 4, camera 5 and diffuse reflector 6 in measuring joint bending.

[0068] Both ends of the bellows 3 are equipped with structures for mounting the bellows 3, called connecting discs 31; one connecting disc 31 is fitted with the first joint arm 1, and the other connecting disc 31 is fitted with the second joint arm 2; the fixing mechanism 8 is equipped with a disc structure called a fixing ring that mates with the connecting disc 31, and fixing rings are provided on both the first joint arm 1 and the second joint arm 2; the fixing rings and the connecting discs 31 are connected by a threaded structure. By setting the connecting discs 31, the fixing mechanism 8 can easily fix the bellows 3, making it less prone to bending when bending, and also allowing the fixing mechanism 8 to adjust the position of the fixed bellows 3, thereby improving the accuracy of the laser reflection sensor in measuring the bending of the bellows 3.

[0069] The fixing mechanism 8 is provided with splicing structures 81, and at least two splicing structures 81 are spliced ​​together to form a fixing ring; the fixing ring formed by at least two splicing structures 81 is fixedly connected by bolts and nuts. The fixing ring formed by splicing structures 81 is connected to the connecting plate 31 by a threaded structure, thereby ensuring the stability of the connection between the fixing mechanism 8 and the connecting plate 31. Furthermore, the fixing ring formed by splicing structures 81 facilitates the disassembly and installation of the fixing ring.

[0070] A rubber pad 82 is provided on the inner ring of the splicing structure 81, and the rubber pad 82 is embedded in the splicing structure 81; a rubber ring is provided between the fixing ring and the connecting plate 31. The rubber pad 82 ensures the sealing and stability of the connection between the fixing ring and the first joint arm 1 and the second joint arm 2, and the rubber ring ensures the sealing and stability of the connection between the fixing ring and the connecting plate 31, preventing dust from entering the joint connection mechanism or affecting the accuracy of the camera 5.

[0071] The protective sleeve 7 and the recessed part form a cavity with a height of 5-8 cm; the width 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 strip is interspersed within the protective sleeve 7. The spring strip is an arc-shaped spring strip that protrudes outward from the recessed area. Both ends of the spring strip are connected to the outer surface of the bellows 3. This prevents the bellows 3 from collapsing when it is bent, and also prevents the protective sleeve 7 from shrinking inward and pressing against the laser emitter 4, camera 5, or diffuse reflector 6, thus ensuring the stable operation of the laser reflection sensor.

[0073] The beam path of the laser emitter 4 is within the diffuse reflector 6.

[0074] The outer surface of the bellows 3 is finished with a black painted matte finish. The black painted matte finish prevents reflected light from affecting the accuracy of light reception by the diffuse reflector 6 of the camera 5.

[0075] In use, a detachable fixing mechanism 8 is provided, which can adjust the position of the fixed bellows 3 to ensure that the bellows 3 can be stably adjusted to the midpoint of the joint connection mechanism. The connecting plate 31 is provided to facilitate the fixing mechanism 8 to fix the bellows 3, so that the bellows 3 is not easy to bend when bending. The inner spring can support the bellows 3 from the inner wall to prevent the bellows 3 from sinking and bending when bending. The rubber pad 82 is provided to ensure the sealing and stability of the fixing ring sleeve on the connection between the first joint arm 1 and the second joint arm 2. The rubber ring ensures the sealing and stability of the connection between the fixing ring and the connecting plate 31. The black spray-painted frosted surface prevents reflected light from affecting the accuracy of the diffuse reflection sheet 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 it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within 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 joint connection mechanism is fitted 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 located on the outside of the joint connection mechanism. It also includes a laser reflection sensor, which comprises a laser emitter, a camera, and a diffuser. The laser emitter and the camera are disposed on the same side wall of the recessed portion of the bellows, and the diffuse reflector is disposed on the other side wall of the recessed portion. The laser emitted by the laser emitter is directed towards the diffuse reflector to form a light spot, and the camera captures the light spot on the diffuse reflector. The upper ends of the laser emitter, camera, and diffuse reflector are lower than the tops of the sidewalls on both sides of the bellows recess. The corrugated pipe is fitted with a rubber protective sleeve, which covers the recessed area, as well as the laser emitter and the camera. The protective sleeve and recess form a cavity that houses the laser emitter's optical path to the camera; The inside of the protective case has a black matte finish.

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

3. The robot joint for intelligent joint angle measurement according to claim 1, characterized in that: The camera is positioned in the middle of the side wall of the recess; When the first and second articulated arms are extended horizontally, the laser emitter shines directly onto the diffuse reflector.

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

5. The robot joint for intelligent joint angle measurement according to claim 4, characterized in that: Both ends of the corrugated pipe are provided with a structure for mounting the corrugated pipe, which is called a connecting plate; One connecting plate is fitted with the first articulated arm, and the other connecting plate is fitted with the second articulated arm; The fixing mechanism is provided with a disc structure called a fixing ring that cooperates with the connecting disc, and fixing rings are provided on both the first joint arm and the second joint arm. The retaining ring and the connecting disc are connected by a threaded structure.

6. The robot joint for intelligent joint angle measurement according to claim 5, 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; At least two spliced ​​structures are connected to form a fixing ring by bolts and nuts.

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

8. The robot joint for intelligent joint angle measurement according to claim 1, characterized in that: The height of the cavity formed by the protective sleeve and the recessed portion is 5-8 cm. The width of the cavity where the laser emitter, camera, and diffuse reflector are located is 2-4 cm.

9. The robot joint for intelligent joint angle measurement according to claim 1, characterized in that: A spring strip is inserted into the protective sleeve, and the spring strip is configured as an arc-shaped spring strip that protrudes outward from the recessed part; The two ends of the spring bar are connected to the outer surface of the bellows.

10. The robot joint for intelligent joint angle measurement according to claim 1, characterized in that: The outer surface of the corrugated pipe is finished with a black spray-painted matte finish.

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