A robot joint and robot with ease of zeroing
By attaching positioning tags and markers to the robot joints, the problem of users having difficulty determining the zero point position is solved, achieving the effects of simplified installation and reduced costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- FAIR INNOVATION (SUZHOU) ROBOTIC SYSTEM CO LTD
- Filing Date
- 2025-06-16
- Publication Date
- 2026-06-05
AI Technical Summary
In robots, when the same type of joint is used on different axes, the zero point position is different. Users find it difficult to accurately determine the zeroing position during installation and can only confirm it after powering on. This can easily lead to errors, resulting in disassembly and repeated installation, increasing costs and complexity.
First and second positioning tags are attached to the robot joints. The tags have positioning marks for alignment in the zeroing state, which simplifies the user installation process and helps to accurately position the robot by means of scale lines and direction marks.
This allows users to perform joint calibration directly without the need for specialized equipment, simplifying the installation process, reducing costs and learning difficulty, avoiding repeated disassembly, and improving installation convenience.
Smart Images
Figure CN224323127U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics technology, and in particular to a robot and a robot joint that is easy to zero. Background Technology
[0002] Robotic rotary joints require zeroing during installation to ensure accurate positioning between two relatively rotating joints, thereby enabling precise control of their relative rotation. However, in some robots, such as collaborative robots, the same model of joint is used on different axes. This results in joints of the same model having different zero-point positions on different axes, necessitating multiple zeroing marks. In such cases, users may disagree on which zeroing marks to use on specific joints during installation, and the zero-point position cannot be determined without power. Therefore, it's difficult to make a unique determination until power is applied to verify correct zeroing. If an incorrect mark is selected, the robot must be disassembled and reinstalled. Utility Model Content
[0003] In a first aspect, this utility model provides a robot joint that is easy to zero, including a first axis joint and a second axis joint that can rotate relative to each other. A first positioning label is also attached to the first axis joint, and a second positioning label is also attached to the second axis joint. Both the first positioning label and the second positioning label are provided with positioning marks. When the first axis joint and the second axis joint are in the zeroing state, the positioning marks on the first positioning label and the second positioning label are aligned.
[0004] In an optional embodiment, a positioning film is also included. The positioning film is pre-attached to the first positioning label and the second positioning label. When the first axis joint and the second axis joint are in the zeroing state, the first positioning label and the second positioning label are integrally attached to the robot joint.
[0005] In an optional implementation, both the first and second positioning labels are provided with scale lines.
[0006] In an optional implementation, the first positioning label has a first set of scale lines, and the second positioning label has a second set of scale lines, with different spacing between the first set of scale lines and the second set of scale lines.
[0007] In an optional implementation, the spacing between the first set of scale lines is 1.8 mm, and the spacing between the second set of scale lines is 2 mm.
[0008] In an optional implementation, the first or second positioning tag has a direction mark.
[0009] In an optional implementation, the direction is indicated by an arrow symbol.
[0010] In an optional implementation, the direction is marked with positive and negative signs.
[0011] In an optional embodiment, the positioning mark is a concave notch, and the positioning marks on the first positioning label and the second positioning label are positioned opposite each other.
[0012] Secondly, this utility model provides a robot, including robot joints that are easy to zero according to any of the foregoing embodiments.
[0013] The robot joint that is easy to zero-calibrate provided by this utility model has the following beneficial effects:
[0014] The first positioning label and the second positioning label are respectively attached to the first shaft joint and the second shaft joint by adhesive. This allows the first positioning label and the second positioning label to be attached after the first shaft joint and the second shaft joint have been zeroed in the factory zeroing process. The positioning marks of the first positioning label and the second positioning label realize the zeroing indication function, which can uniquely determine the zeroing position of the joint. Thus, the user can directly complete the zeroing of the joint according to the first positioning label and the second positioning label during assembly.
[0015] The robot for easy zeroing provided by this utility model includes robot joints according to any of the foregoing embodiments, and has the same beneficial effects, which will not be described again. Attached Figure Description
[0016] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0017] Figure 1 A partial structural schematic diagram of a robot for easy zeroing provided in an embodiment of this utility model;
[0018] Figure 2 A schematic diagram of the structure of a robot joint that is easy to zero-calibrate, provided for an embodiment of this utility model;
[0019] Figure 3 A schematic diagram of the structure of the first and second positioning tags of the robot joints, which are convenient for zeroing, provided for embodiments of this utility model.
[0020] Icons: 100 - Robot; 200 - First axis joint; 210 - First positioning label; 211 - First scale line group; 300 - Second axis joint; 310 - Second positioning label; 311 - Second scale line group; 400 - Positioning mark; 500 - Direction mark. Detailed Implementation
[0021] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0022] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.
[0023] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0024] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0025] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.
[0026] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.
[0027] The following detailed description, in conjunction with the accompanying drawings, outlines some embodiments of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.
[0028] Robot joints that facilitate zeroing
[0029] This utility model embodiment provides a robot joint that is easy to zero-calibrate, such as Figures 1 to 3 As shown, it includes a first axial joint 200 and a second axial joint 300 that can rotate relative to each other. A first positioning label 210 is also attached to the first axial joint 200, and a second positioning label 310 is also attached to the second axial joint 300. Both the first positioning label 210 and the second positioning label 310 are provided with positioning marks 400. When the first axial joint 200 and the second axial joint 300 are in the zeroing state, the positioning marks 400 on the first positioning label 210 and the second positioning label 310 are aligned.
[0030] in, Figure 1 This is a partial structural diagram of a robot 100 that is easy to zero-calibrate, provided for an embodiment of the present utility model. It is used to show the state of the robot joints that are easy to zero-calibrate on the overall structure of the robot 100. Other robot 100 structures that are not related to the robot joints are omitted in the figure. Figure 2 This is a schematic diagram of the structure of a robot joint that is easy to zero-calibrate, provided by an embodiment of the present invention. Figure 2 The middle view is the frontal view. Figure 3 A schematic diagram of the structure of the first positioning tag 210 and the second positioning tag 310 of the robot joint for easy zeroing provided in this embodiment of the utility model.
[0031] Before leaving the factory, robot joints undergo zero-point calibration during the production process. This calibration is performed using zero-point calibration fixtures by professional operators, ensuring accurate zero-point calibration. When the same model of joint is used on different axis joints, the same model of joint may need different zero-point calibration positions, thus achieving different zero-point calibrations on different axis joints. Currently, the practice is to pre-set multiple zero-point features during joint production, using different zero-point features for matching different zero-point calibration positions.
[0032] However, after zeroing is completed before leaving the factory, users still need to zero-calibrate the robot joints when installing them. At this time, users do not have professional equipment such as zeroing tooling, nor do they have professional zeroing operation experience. When the same model of joint has multiple zero-point features, users have difficulty distinguishing them accurately, which can easily lead to zero-point feature matching errors. Repeated disassembly and installation are required, making the installation process cumbersome and the usage cost high.
[0033] In the embodiments provided by this utility model, such as Figures 1 to 3 As shown, the first positioning label 210 and the second positioning label 310 are respectively connected to the first shaft joint 200 and the second shaft joint 300 by adhesive bonding. This allows the first positioning label 210 and the second positioning label 310 to be attached after the first shaft joint 200 and the second shaft joint 300 have been zeroed in the factory zeroing process. The positioning marks 400 of the first positioning label 210 and the second positioning label 310 provide a zeroing indication function, which can uniquely determine the zeroing position of the joint. Thus, the user can directly complete the zeroing of the joint based on the first positioning label 210 and the second positioning label 310 during assembly.
[0034] When different zeroing positions need to be set for joints of the same model, since the first positioning label 210 and the second positioning label 310 are connected to the first shaft joint 200 and the second shaft joint 300 respectively after zeroing is completed by adhesive bonding, the zeroing operation is the same as when the same model of joint has only one fixed zeroing position. The operation is completely consistent in the factory production stage and the user installation stage, without adding extra operations or zeroing errors. In particular, it improves the convenience of user installation, avoids the possibility of repeated disassembly and installation, simplifies the user's operation, and reduces the user's learning and usage costs.
[0035] Furthermore, by eliminating the need to pre-set multiple zero-calibration features on the joints according to different zero-calibration positions, the production cost of robot joints can be reduced, as can the material management cost.
[0036] The first positioning tag 210 and the second positioning tag 310 are respectively connected to the first axis joint 200 and the second axis joint 300 by adhesive bonding, which facilitates connection when the first axis joint 200 and the second axis joint 300 have been zeroed. The adhesive bonding operation is less likely to damage the zeroing state.
[0037] In some embodiments, optionally, a positioning film is also included. The positioning film is pre-attached to the first positioning label 210 and the second positioning label 310. When the first axis joint 200 and the second axis joint 300 are in the zeroing state, the first positioning label 210 and the second positioning label 310 are integrally attached to the robot joint.
[0038] By pre-adheding the positioning film to the first positioning label 210 and the second positioning label 310, the positioning marks 400 on the first positioning label 210 and the second positioning label 310 can be aligned, thus making the operation of adhering the first positioning label 210 and the second positioning label 310 simpler.
[0039] More specifically, the positioning film can also be a release film that is easy to tear off, so that the positioning film can be torn off after the first positioning label 210 and the second positioning label 310 are bonded, so as to avoid the positioning film affecting the rotation of the joint, and also to prevent the positioning film from causing the first positioning label 210 and the second positioning label 310 to be misaligned.
[0040] In some embodiments, optionally, such as Figure 3 As shown, both the first positioning label 210 and the second positioning label 310 are provided with scale lines, which allows users to intuitively judge the relative deflection of the first axis joint 200 and the second axis joint 300 through the scale lines.
[0041] In some embodiments, optionally, such as Figure 3 As shown, the first positioning label 210 is provided with a first scale line group 211, and the second positioning label 310 is provided with a second scale line group 311. The spacing between the first scale line group 211 and the second scale line group 311 is different. The specific deflection angle is read by the misalignment of the two scale line groups.
[0042] In some embodiments, optionally, the spacing between the first scale line group 211 is 1.8 mm and the spacing between the second scale line group 311 is 2 mm. This spacing facilitates observation and alignment of the first scale line group 211 and the second scale line group 311.
[0043] In some embodiments, optionally, the first positioning label 210 or the second positioning label 310 is provided with a direction mark 500, so that the user can determine the direction of deflection based on the direction mark 500.
[0044] In some embodiments, the direction marker 500 may optionally be an arrow symbol. Specifically, two arrow symbols may be provided, pointing to the positive and negative rotation directions respectively.
[0045] In some embodiments, optionally, such as Figure 3 As shown, the direction mark 500 is a positive and a negative sign, with the positive and negative signs pointing to the positive and negative rotation directions, respectively.
[0046] In some embodiments, optionally, such as Figure 3As shown, the positioning mark 400 is a concave notch, and the positioning marks 400 on the first positioning label 210 and the second positioning label 310 are positioned opposite each other. Specifically, the concave notches on the first positioning label 210 and the second positioning label 310 are both located on the side where the first positioning label 210 and the second positioning label 310 are positioned opposite each other. When the first positioning label 210 and the second positioning label 310 are attached to the first shaft joint 200 and the second shaft joint 300, the concave notches are more conspicuous, making it easier to observe the alignment.
[0047] In the above embodiments, combinations can be made freely without conflict.
[0048] A robot 100
[0049] This embodiment provides a robot 100, such as Figure 1 As shown, a robot joint that is easy to zero-calibrate includes any of the above embodiments.
[0050] like Figure 1 As shown, the first axis joint 200 and the second axis joint 300 together form a robot joint, and multiple robot joints can be set on a robot 100.
[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.
Claims
1. A robot joint that is easy to zero-calibrate, characterized in that, It includes a first axial joint (200) and a second axial joint (300) that can rotate relative to each other. A first positioning label (210) is also attached to the first axial joint (200), and a second positioning label (310) is also attached to the second axial joint (300). Both the first positioning label (210) and the second positioning label (310) are provided with positioning marks (400). When the first axial joint (200) and the second axial joint (300) are in the zeroing state, the positioning marks (400) on the first positioning label (210) and the second positioning label (310) are aligned.
2. The robot joint for easy zeroing according to claim 1, characterized in that, It also includes a positioning film, which is pre-bonded to the first positioning label (210) and the second positioning label (310). When the first axis joint (200) and the second axis joint (300) are in the zeroing state, the first positioning label (210) and the second positioning label (310) are integrally bonded to the robot joint.
3. The robot joint for easy zeroing according to claim 1, characterized in that, Both the first positioning label (210) and the second positioning label (310) are provided with scale lines.
4. The robot joint for easy zeroing according to claim 3, characterized in that, The first positioning label (210) is provided with a first scale line group (211), and the second positioning label (310) is provided with a second scale line group (311). The spacing between the first scale line group (211) and the second scale line group (311) is different.
5. The robot joint for easy zeroing according to claim 4, characterized in that, The spacing between the first set of scale lines (211) is 1.8 mm, and the spacing between the second set of scale lines (311) is 2 mm.
6. The robot joint for easy zeroing according to claim 1, characterized in that, The first positioning tag (210) or the second positioning tag (310) is provided with a direction mark (500).
7. The robot joint for easy zeroing according to claim 6, characterized in that, The direction mark (500) is an arrow symbol.
8. The robot joint for easy zeroing according to claim 6, characterized in that, The direction marker (500) is a positive or negative sign.
9. The robot joint for easy zeroing according to claim 1, characterized in that, The positioning mark (400) is a concave notch, and the positioning marks (400) on the first positioning label (210) and the second positioning label (310) are arranged opposite to each other.
10. A robot (100), characterized in that, Including the robot joint that is easy to zero according to any one of claims 1-9.