A robot joint module with self-calibration function

Abstract

The utility model discloses a kind of robot joint module with self-calibration function, including first shell, the first shell is connected with second shell by a plurality of bolts fixedly, the side of the second shell is fixedly connected with monitoring board, the front end of the monitoring board is fixed with pinhole camera, the front end of the monitoring board is fixed with wireless signal transmitter, the inside front end of the first shell is equipped with drive group, the rear end of the drive group is fixed with first connecting end, the rear end of the first connecting end is fixedly connected with second connecting end, the rear end of the second connecting end is fixed with main control group. The utility model relates to a kind of robot joint module with self-calibration function, by setting monitoring board, using pinhole camera, implementation is sent by wireless signal transmitter, realize the remote monitoring and diagnosis of joint module, promptly discover and solve problem, improve the reliability and maintainability of robot.

Description

Technical Field

[0001] This utility model relates to the field of robot joint modules, and more particularly to a robot joint module with self-calibration function. Background Technology

[0002] Robot joint modules are the core components of a robot's motion system, determining the robot's flexibility, precision, load capacity, and dynamic response performance. With the continuous development of robotics technology, the technological level of joint modules is also constantly improving.

[0003] Self-calibration technology is crucial for ensuring the long-term stable operation of robot joint modules. During long-term operation, factors such as wear and temperature changes may cause deviations in robot joint modules, leading to inaccurate material handling or motion positioning, thus affecting work efficiency and product quality. However, most current calibration methods are performed manually, which not only increases workload and cost but may also result in inaccurate calibration. In addition, the lack of corresponding monitoring components during joint module operation makes it impossible to remotely monitor the joint modules and promptly identify and resolve problems, reducing the robot's reliability and maintainability. Summary of the Invention

[0004] To address the aforementioned problems, the purpose of this invention is to provide a robot joint module with self-calibration functionality.

[0005] The following technical solution is adopted: a robot joint module with self-calibration function includes a first shell, a second shell fixedly connected to the first shell by a number of bolts, a monitoring board fixedly connected to one side of the second shell, a pinhole camera fixedly mounted on the front end of the monitoring board, a wireless signal transmitter fixedly mounted on the front end of the monitoring board, a drive group inside the front end of the first shell, a first connection end fixedly mounted on the rear end of the drive group, a second connection end fixedly connected to the rear end of the first connection end, and a main control group fixedly mounted on the rear end of the second connection end.

[0006] Optionally, the main control group includes a main controller, and the main controller has a calibrator and a storage unit fixedly installed at its back end.

[0007] Optionally, a backup battery is fixedly installed at the front end of the main controller, and a battery is fixedly installed at the front end of the backup battery.

[0008] Optionally, a second clamping block is fixedly connected to the front end of the battery, and an encoder is provided at the front end of the second clamping block. A first clamping block is provided at the front end of the encoder, and the first clamping block and the second clamping block fix the encoder.

[0009] Optionally, a connecting pipe is fixedly connected to the front end of the first clamping block, and the front end of the connecting pipe is connected to the second connecting end.

[0010] Optionally, the drive assembly includes a drive shaft, which is rotatably connected to the interior of the drive assembly. A reducer is rotatably connected to the rear end of the drive shaft, and a sealing gasket is provided between the reducer and the inner walls of the first and second housings.

[0011] Optionally, a drive motor is fixedly connected to the rear end of the reducer, and a motor frame is fitted on the outer wall of the drive motor. The rear end of the motor frame is fixedly connected to the front end of the first connecting end.

[0012] Optionally, the drive shaft is rotatably connected to the contact portion of the first housing and the second housing.

[0013] The technical effects that can be achieved by the technical means of this utility model are as follows:

[0014] (1) In this utility model, by setting up a monitoring board and using a pinhole camera, the implementation status is transmitted through a wireless signal transmitter to realize remote monitoring and diagnosis of the joint module, timely detection and problem solving, and improve the reliability and maintainability of the robot.

[0015] (2) In this utility model, by setting up a calibrator and using a calibration algorithm, based on the photoelectric sensor and torque sensor in the encoder, and in conjunction with a pinhole camera, the position, speed and torque of the joint are monitored in real time to provide accurate feedback data to the main controller, thereby calibrating and calculating the deviation that the joint module needs to be adjusted, and generating corresponding control commands. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0017] Figure 2 This is a partial half-section three-dimensional structural diagram of the present invention.

[0018] Figure 3 This is a three-dimensional structural diagram of the drive assembly of this utility model.

[0019] Figure 4 This is a three-dimensional structural diagram of the main control unit of this utility model.

[0020] In the diagram: 1. First outer casing; 2. Second outer casing; 3. Monitoring board; 4. Pinhole camera; 5. Wireless signal transmitter; 6. Drive group; 601. Drive shaft; 602. Sealing gasket; 603. Reducer; 604. Drive motor; 605. Motor frame; 7. First connection end; 8. Second connection end; 9. Main control group; 901. First clamping block; 902. Encoder; 903. Battery; 904. Backup battery; 905. Main controller; 906. Calibrator; 907. Storage unit; 908. Second clamping block; 10. Connecting pipe. Detailed Implementation

[0021] To provide a clearer understanding of the technical features, objectives, and effects of this utility model, the specific embodiments of this utility model are now described with reference to the accompanying drawings.

[0022] In the description of this utility model, it should be noted that the orientations or positional relationships indicated by terms such as "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end" are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They 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, and therefore should not be construed as a limitation of this utility model. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within 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.

[0024] A preferred embodiment of the robot joint module with self-calibration function provided by this utility model is, for example... Figures 1 to 4 As shown: A robot joint module with self-calibration function includes a first shell 1, a second shell 2 fixedly connected to the first shell 1 by several bolts, a monitoring board 3 fixedly connected to one side of the second shell 2, a pinhole camera 4 fixedly mounted on the front end of the monitoring board 3, a wireless signal transmitter 5 fixedly mounted on the front end of the monitoring board 3, a drive group 6 located at the front end inside the first shell 1, a first connection end 7 fixedly mounted at the rear end of the drive group 6, a second connection end 8 fixedly connected at the rear end of the first connection end 7, and a main control group 9 fixedly mounted at the rear end of the second connection end 8. By setting up the first shell 1 and the second shell 2, the internal components are protected from damage by the external environment. By setting up the first connection end 7, the second connection end 8 and the connecting pipe 10, information is processed by the main controller 905 and instructions are transmitted to the drive motor 604.

[0025] In this embodiment, the main control group 9 includes a main controller 905. A calibrator 906 and a storage unit 907 are fixedly provided at the rear end of the main controller 905. A backup battery 904 is fixedly provided at the front end of the main controller 905. A battery 903 is fixedly provided at the front end of the backup battery 904. A second clamping block 908 is fixedly connected to the front end of the battery 903. An encoder 902 is provided at the front end of the second clamping block 908. A first clamping block 901 is provided at the front end of the encoder 902. The first clamping block 901 and the second clamping block 908 fix the encoder 902. A connecting pipe 10 is fixedly connected to the front end of the first clamping block 901. The front end of the connecting pipe 10 is connected to the second connecting end 8.

[0026] Through the above scheme, by setting up encoder 902, including photoelectric sensors and torque sensors, in conjunction with pinhole camera 4, the position, speed and torque parameters of the joint are monitored in real time, providing accurate feedback to main controller 905. By setting up battery 903, the device is powered, and backup battery 904 is a backup battery in case battery 903 malfunctions. By setting up calibrator 906, the deviation that the joint module needs to be adjusted is calibrated and calculated using calibration algorithm, and corresponding control commands are generated. These commands are transmitted through connecting pipe 10, and then through first connection terminal 7 and second connection terminal 8 to drive motor 604.

[0027] In this embodiment, the drive assembly 6 includes a drive shaft 601, which is rotatably connected to the interior of the drive assembly 6. A reducer 603 is rotatably connected to the rear end of the drive shaft 601. A sealing gasket 602 is provided between the reducer 603 and the inner wall of the first housing 1 and the second housing 2. A drive motor 604 is fixedly connected to the rear end of the reducer 603. A motor frame 605 is sleeved on the outer wall of the drive motor 604. The rear end of the motor frame 605 is fixedly connected to the front end of the first connecting end 7. The drive shaft 601 is rotatably connected to the contact portion of the first housing 1 and the second housing 2.

[0028] In the above scheme, the main shaft of the drive motor 604 rotates inside the reducer 603, causing the drive shaft 601 to rotate and drive the robot's limbs to rotate. The storage unit 907 is used to store calibration parameters, historical data, and other information. This information can be used for subsequent analysis, optimization, and fault diagnosis by the main controller 905. By setting the sealing gasket 602, a sealing function is achieved. By setting the reducer 603, the speed of the drive motor 604 can be reduced and the output torque increased, enabling the robot to lift heavier objects. By setting the motor frame 605, the drive motor 604 is placed inside and fixed.

[0029] Working principle: When operating and using this utility model, as follows... Figures 1 to 4As shown, during use, the drive shaft 601 is connected to the robot limb. The following describes each component: A monitoring board 3, a pinhole camera 4, and a wireless signal transmitter 5 are used. The monitoring board 3, along with the pinhole camera 4, transmits the real-time data via the wireless signal transmitter 5, enabling remote monitoring and diagnosis of the joint module. This allows for timely detection and resolution of problems, improving the robot's reliability and maintainability. An encoder 902, containing photoelectric sensors and torque sensors, works in conjunction with the pinhole camera 4 to monitor joint position, speed, and torque parameters in real time, providing precise control to the main controller 905. The system provides power to the device via a storage battery 903, with a backup battery 904 serving as a backup in case the storage battery 903 malfunctions. A calibrator 906 uses a calibration algorithm to calibrate and calculate the required adjustment deviation of the joint module, generating corresponding control commands. These commands are transmitted via a connecting pipe 10, through the first connection end 7 and the second connection end 8, to the drive motor 604. The drive motor 604's main shaft rotates within a reducer 603, causing the drive shaft 601 to rotate and drive the robot's limbs. A storage unit 907 stores calibration parameters, historical data, and other information. This information can be used for subsequent analysis, optimization, and fault diagnosis by the main controller 905. A sealing gasket 602 provides a seal. The reducer 603 lowers the speed of the drive motor 604 and increases the output torque, enabling the robot to lift heavier objects. A motor frame 605 houses and secures the drive motor 604.

[0030] The above are merely illustrative embodiments of this utility model and are not intended to limit the scope of this utility model. Any equivalent changes and modifications made by those skilled in the art without departing from the concept and principles of this utility model should fall within the protection scope of this utility model. Furthermore, it should be noted that the components of this utility model are not limited to the overall application described above. Each technical feature described in the specification of this utility model can be used individually or in combination as needed. Therefore, this utility model naturally covers other combinations and specific applications related to the points of this utility model.

Claims

1. A robot joint module with self-calibration function, comprising a first outer shell (1), characterized in that: The first outer shell (1) is fixedly connected to the second outer shell (2) by several bolts. A monitoring board (3) is fixedly connected to one side of the second outer shell (2). A pinhole camera (4) is fixedly provided at the front end of the monitoring board (3). A wireless signal transmitter (5) is fixedly provided at the front end of the monitoring board (3). A drive group (6) is provided at the front end inside the first outer shell (1). A first connection end (7) is fixedly provided at the rear end of the drive group (6). A second connection end (8) is fixedly connected at the rear end of the first connection end (7). A main control group (9) is fixedly provided at the rear end of the second connection end (8). The main control group (9) includes a main controller (905), and a calibrator (906) and a storage unit (907) are fixedly provided at the back end of the main controller (905).

2. A robot joint module with self-calibration function according to claim 1, characterized in that: The main controller (905) is equipped with a backup battery (904) at its front end, and the backup battery (904) is equipped with a battery (903) at its front end.

3. A robot joint module with self-calibration function according to claim 2, characterized in that: The front end of the battery (903) is fixedly connected to a second clamping block (908), and the front end of the second clamping block (908) is provided with an encoder (902). The front end of the encoder (902) is provided with a first clamping block (901), and the first clamping block (901) and the second clamping block (908) fix the encoder (902).

4. A robot joint module with self-calibration function according to claim 3, characterized in that: The first clamping block (901) has a connecting pipe (10) fixedly connected to its front end, and the front end of the connecting pipe (10) is connected to the second connecting end (8).

5. A robot joint module with self-calibration function according to claim 1, characterized in that: The drive assembly (6) includes a drive shaft (601), which is rotatably connected to the inside of the drive assembly (6). A reducer (603) is rotatably connected to the rear end of the drive shaft (601), and a sealing gasket (602) is provided between the reducer (603) and the inner walls of the first housing (1) and the second housing (2).

6. A robot joint module with self-calibration function according to claim 5, characterized in that: The reducer (603) is fixedly connected to the rear end of the drive motor (604), and the drive motor (604) is fitted with a motor frame (605) on its outer wall. The rear end of the motor frame (605) is fixedly connected to the front end of the first connection end (7).

7. A robot joint module with self-calibration function according to claim 5, characterized in that: The drive shaft (601) is rotatably connected to the contact portion of the first housing (1) and the second housing (2).

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