CN218534606U - Joint for robot, mechanical arm and robot - Google Patents

Abstract

A joint, a robot arm and a robot for a robot are disclosed. A joint for a robot has a joint module including a servo motor, a reducer, and a joint controller, the joint further including: the force sensor is arranged at the output end of the joint and measures the stress state of the output end to generate corresponding data information; and the fault diagnosis module is in wireless communication connection with the force sensor to receive data information from the force sensor in real time, and determines the operation state of the joint based on the data information and a real-time electric signal for driving the servo motor. The robot arm comprises at least one joint for the robot. The robot comprises at least one joint for the robot. In the joint, the robot arm, and the robot, self-failure monitoring and diagnosis of the joint can be achieved.

Description

Joint for robot, mechanical arm and robot

Technical Field

The present invention relates to the field of robots, and more particularly, to a joint, a robot arm, and a robot for a robot having a fault diagnosis function.

Background

In general, robots having robotic arms control the relative motion between the components of the robotic arm by means of joints. Joints are generally divided into rotational joints and translational joints (also referred to as prismatic joints). The rotary joint can be respectively connected with the two components to rotate by utilizing a driving device so as to enable the two components to generate relative motion. The movable joint consists of a linear motion mechanism and a linear guide rail part which plays a role of linear guide in the whole motion range. In order to accurately control the motion and position of the robot arm, it is necessary to accurately measure the rotational speed or displacement of the output end of the joint.

Besides the need to monitor the rotation speed or displacement of the output end of the joint, it is necessary to measure and collect the stress condition of the output end of the joint during operation so as to diagnose the fault of the robot joint.

Conventionally, if a fault diagnosis is performed on a joint of a robot, an additional vibration sensor and a signal processing and analyzing system are required. Moreover, when the fault diagnosis function is implemented on the joints of the robot, intervention of external equipment is often required, and the robot may need to be disassembled, and therefore, the fault diagnosis function cannot be easily implemented or implemented on a user level.

SUMMERY OF THE UTILITY MODEL

According to a first aspect of the present application, there is provided a joint for a robot, a robot arm, and a robot having self-failure monitoring and diagnosis functions.

According to a first aspect of the present application, there is provided a joint for a robot, a robot arm, and a robot having a self-failure diagnosis function.

According to a second aspect of the present application, there is provided a joint for a robot, a robot arm, and a robot capable of performing a real-time self-failure diagnosis function.

According to a third aspect of the present application, there is provided a joint for a robot, a robot arm, and a robot having a failure presentation function.

According to at least one embodiment of the present application, there is provided a joint for a robot, the joint having a joint module including a reducer, a servo motor, and a joint controller, the joint further including: the force sensor is arranged at the output end of the joint and measures the stress state of the output end to generate corresponding data information; a fault diagnosis module communicatively coupled with the force sensor to receive the data information from the force sensor in real time, the fault diagnosis module determining an operational state of the joint based on the data information and a real-time electrical signal for driving the servo motor; and a failure presentation device communicatively connected to the failure diagnosis module and configured to provide an alarm about an abnormality in an operational state of the joint according to a diagnosis result of the failure diagnosis module, wherein the joint sensor is a force sensor, the failure presentation device including a joint state display module provided on a housing of the joint.

In at least one embodiment of the present application, the force sensor may be a six-dimensional force sensor or at least one uniaxial force sensor.

In at least one embodiment of the present application, the fault notification device may include at least one of a speaker, an LED light, a display screen, and a vibrator, or the alarm may include at least one of an audible alarm, a light alarm, a graphic text alarm, and a tactile alarm.

In at least one embodiment of the present application, the joint controller is configured to be integrated in a robot controller.

In at least one embodiment of the present application, the joint controller is communicatively coupled or integrated with the fault diagnosis module in a wired or wireless communication connection, and/or the fault diagnosis module is wirelessly communicatively coupled with the joint sensor.

In at least one embodiment of the present application, the fault diagnosis module is in wireless communication with the joint sensor and/or the fault prompting device.

In at least one embodiment of the present application, the electrical signal comprises a current signal and/or a voltage signal.

According to at least one embodiment of the present application, there is provided a robot arm including at least one joint for a robot as described above.

According to at least one embodiment of the present application, there is provided a robot comprising at least one joint for a robot as described above.

The joint, the mechanical arm and the robot for the robot according to the embodiment of the application not only have self-fault diagnosis capability, but also can prompt information related to the fault of the joint to a user in real time.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a block diagram schematically showing the structure of a failure diagnosis system of a joint according to an embodiment of the present application;

fig. 2 is a schematic block diagram schematically showing a communication relationship between components of a failure diagnosis system of a joint according to an embodiment of the present application.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and that modifications may be made by one skilled in the art without departing from the spirit and scope of the application and it is therefore not intended to be limited to the specific embodiments disclosed below.

Specific embodiments according to the present application will be described in detail below with reference to fig. 1-2.

As shown in fig. 1, a joint 100 for a robot according to an embodiment of the present application includes a housing 4, a joint module 10, and a failure diagnosis system 20.

The joint module 10 is provided inside the housing 4, and includes a servo motor 1, a reducer 2 mechanically connected to an output of the servo motor 1, and a joint controller 3 that controls an operation of the servo motor 1. Preferably, the joint controller 3 and the decelerator 2 may be respectively disposed at both sides of the servo motor. The joint controller 3 sends an electrical signal (e.g., a current signal, a voltage signal, or a combination thereof) to the servo motor 1 according to a preset program to control the operation of the servo motor 1, for example, to control the rotation speed variation and start/stop operation of the servo motor. The input end of the speed reducer 2 is connected with the output end of the servo motor 1, and the output end of the speed reducer 2 is connected with the output end 5 of the joint or serves as the output end 5 of the joint.

In the embodiment shown in fig. 1, the output 5 of the joint is located outside the housing 4 of the joint to output power from the servo motor 1 towards a connecting rod (not shown) or other connecting component (such as an end effector) of a robotic arm (not shown) to which the joint 100 is connected. However, the present application is not limited thereto, and the output end 5 of the joint may be arranged inside the housing 4 according to the structural design requirements of the robot or the robot arm. When the servomotor 1 is operated, the output 5 of the joint rotates with the servomotor 1. Therefore, by referring to the electrical signal inputted to the servo motor 1 from the joint controller, the operation condition of the joint can be judged according to the stress condition of the output terminal 5 of the joint, thereby enabling to monitor the operation state of the joint, predict a possible failure of the joint 100, and diagnose a failure of the joint 100.

In order to implement the self-failure monitoring and diagnosis function of the joint, the joint 100 for a robot according to at least one embodiment of the present application further includes a failure diagnosis system 20. The fault diagnosis system 20 may include a joint sensor 11, and a fault diagnosis module 13 in communication with the joint controller 3. In further embodiments, the fault diagnosis system 20 may also include a joint status display module 14 in communication with the fault diagnosis module 13.

The joint sensor 11 may be at least one single-axis sensor (e.g., 1 single-axis sensor, 2 single-axis sensors, 3 single-axis sensors, 4 single-axis sensors, 5 single-axis sensors, or 6 single-axis sensors), and may also employ a six-dimensional force sensor. The type and operating principle of a six-dimensional force sensor is well known in the art and will not be described in detail herein. The joint sensor 11 is arranged on the output end 5 of the joint and is used for measuring the stress conditions of the output end 5 of the joint, such as force components of an X axis, a Y axis and a Z axis and moment components of the X axis, the Y axis and the Z axis. In the case of at least one single-axis sensor, the joint sensor 11 is likewise used to measure at least one of the X-, Y-, and Z-axis force components and the X-, Y-, and Z-axis moment components of the output 5.

Furthermore, the joint sensor 11 can also be arranged on the output 5 of the joint 100 or between the output 5 of the joint 100 and the reduction gear 2, so that for the joint 100, the output data of the joint sensor 11 represents the signal output by the joint 100 and the current signal input by the joint controller 3 to the servomotor 1 represents the input signal of the joint 100. Thus, with reference to the specific configuration of the joint 100, the difference between the input signal and the output signal can sufficiently represent the operating state inside the joint, whereby it can be determined whether the operating state of the joint 100 is normal.

To this end, the fault diagnosis module 14 may be arranged, for example, adjacent to the joint controller 3 to receive relevant control information from the joint controller 3, such as electrical signals input to the servo motor 1.

Preferably, the fault diagnosis module 14 may include a wireless communication module 15, whereby it may be wirelessly communicatively connected with the joint controller 3 and the joint sensor 11 to receive relevant data therefrom. The fault diagnosis module 14 may be provided with a fault diagnosis expert system in advance. The fault diagnosis module 14 obtains an analysis conclusion of the operational state of the joint 100 by receiving data from the joint sensor 11 and the joint controller 3 as input data of a fault diagnosis expert system. For example, the fault diagnosis expert system may be pre-stored with data of the normal operating state of the joint in the form of a table or a curve or the like and a list of abnormal conditions based on the stress condition of the output 5 of the joint. When the fault diagnosis module 14 analyzes the data received from the joint controller 3 and the joint sensor 11 to know that the stress condition of the joint output end 5 is abnormal, the running state of the joint can be early warned or alarmed. For example, the alarm may be provided by a joint status display module 14 as shown in fig. 1 and 2.

Specifically, the joint status display module 14 may be an LED strip provided on the housing 4 of the joint 100 as shown in fig. 1. The joint status display module 14 may alert the joint 100 of the failure location or failure type by emitting different colors of light. Alternatively, the joint status display module 14 may alert the severity of the failure or the type of failure of the joint 100 by setting the lighting pattern (e.g., by setting different flashing durations). Alternatively, the joint status display module 14 may also alert the severity of the failure or the type of failure of the joint 100 by changing the intensity of the illumination and/or the number of lights that are illuminated. Alternatively, the joint status display module 14 may be provided with a plurality of light patterns to correspond to different failure locations and/or failure severity levels. Alternatively, the joint status display module 14 may also display specific indicia, labels, or text to provide an alert regarding the operational status of the joint 100.

In the above embodiment, the LED lamp is taken as an example to describe the implementation of the joint status display module 14, however, the present invention is not limited thereto. For example, the joint state display module 14 may not be provided on the housing of the joint 100, but may be displayed through a manipulation screen of the robot. Alternatively, other types of failure indication devices may be used instead of the joint state display module 14 or may be added to the joint state display module 14. For example, the fault notification device may include a speaker, an LED light, a display screen, or a vibrator. Accordingly, the alarm provided by the fault notification device may include an audible alarm, a light alarm, a graphic text alarm, or a tactile alarm light.

Further, the failure indication means such as the joint state display module 14 may be provided on the joint 100, for example, on a housing of the joint 100, however, the present application is not limited thereto, and for example, the failure indication means may be provided alone, or on a robot arm or other part or platform of the robot having the joint 100, or implement an alarm function by a control system of the robot.

Preferably, as shown in fig. 2, a fault prompting device such as the joint state display module 14 is connected with the fault diagnosis module 13 in a wireless communication manner, so that the fault prompting device such as the joint state display module 14 can receive alarm information from the fault diagnosis module 13 in real time and remind a user of the abnormality of the joint 100 and perform corresponding maintenance or detection, thereby preventing accidents.

In the embodiment shown in fig. 1 and 2, the joint controller 3 of the joint module 10 is electrically and communicatively connected to the servo motor 1, while the joint controller 3 is wirelessly connected to the failure diagnosis module 13 via the wireless communication module 15. However, the present application is not limited thereto. For example, the joint controller 3 may be integrated with the controller of the robot; the joint controller 3 may be integrated with the fault diagnosis module 13; the joint controller 3 can be wirelessly connected with the servo motor 1; the joint controller 3 may also be wired to the fault diagnosis module 13.

Through the wireless communication connection among the joint controller 3, the fault diagnosis module 13, the fault prompt module such as the joint state display module 14 and the joint sensor 11, the data is transmitted to the fault diagnosis module in real time to realize the real-time self-fault diagnosis of the joint 100, and the fault of the joint 100 can be found out early. Compared with the prior art that fault diagnosis and warning operation cannot be carried out on the running robot, the joint, the mechanical arm and the robot for the robot can provide real-time running data and can monitor the state of the joint in real time in the running process, so that possibility is provided for joint fault prejudgment of the robot, a user or related technical personnel can intervene in advance, and loss caused by joint fault is reduced.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

All possible combinations of the technical features of the above embodiments may not be described for the sake of brevity, but should be considered as within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims (8)

1. A joint for a robot, the joint having a joint module including a servo motor, a reducer, and a joint controller, characterized by further comprising:

the force sensor is arranged at the output end of the joint and used for measuring the stress state of the output end to generate corresponding data information;

a fault diagnosis module communicatively coupled with the force sensor to receive the data information from the force sensor in real time, the fault diagnosis module determining an operational state of the joint based on the data information and a real-time electrical signal for driving the servo motor; and

a failure presentation device communicatively connected to the failure diagnosis module and configured to provide an alarm about an abnormality in an operational state of the joint according to a diagnosis result of the failure diagnosis module,

wherein the fault prompting device comprises a joint state display module, and the joint state display module is arranged on a shell of the joint.

2. A joint for a robot as claimed in claim 1, wherein the force sensor is a six-dimensional force sensor or at least one single-axis force sensor.

3. The joint for a robot of claim 1, wherein the fault indication device comprises at least one of a speaker, an LED light, a display screen, and a vibrator, or the alarm comprises at least one of an audible alarm, a light alarm, a graphical text alarm, a tactile alarm.

4. A joint for a robot as claimed in claim 1, wherein the joint controller is configured to be integrated in a robot controller.

5. The joint for a robot of claim 1, wherein the joint controller is communicatively connected or integrated with the fault diagnosis module in a wired communication connection or a wireless communication connection, and/or the fault diagnosis module is wirelessly communicatively connected with the joint sensor.

6. The joint for a robot of claim 1, wherein the fault diagnosis module is in wireless communication with the joint sensor and/or the fault prompting device.

7. A robot arm, characterized in that the robot arm comprises at least one joint for a robot according to any of claims 1 to 6.

8. A robot, characterized in that it comprises at least one joint for a robot according to any of claims 1-6.

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