CN110293565B - Control system for remotely controlling industrial robot to operate - Google Patents
Control system for remotely controlling industrial robot to operate Download PDFInfo
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- CN110293565B CN110293565B CN201910685913.4A CN201910685913A CN110293565B CN 110293565 B CN110293565 B CN 110293565B CN 201910685913 A CN201910685913 A CN 201910685913A CN 110293565 B CN110293565 B CN 110293565B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
The invention discloses a control system for remotely controlling the operation of an industrial robot, which comprises a main controller, a liquid crystal touch screen device, a wireless communication device, a brake control device, a motor drive control device, an obstacle avoidance and detection device, a sensor management device, an image data acquisition module device, a data storage device, a voice recognition module device, a path recognition and detection device, a power supply management device, a system diagnosis and alarm device, a global environment maintenance device, a motor steering control device and an execution monitoring device. Has the advantages that: the requirement of the professional skill level of an operator is reduced, the operator can avoid the severe operation environment on site, remote real-time control and rapid programming are realized, the efficiency is improved, and the personal safety is guaranteed.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a control system for remotely controlling the operation of an industrial robot.
Background
Along with the continuous expansion of industrial robot application, some relatively more abominable operational environment can not avoid appearing, if the staff is long-time at the on-the-spot operation robot, cause very big harm to operator's personal safety and physical and mental health, especially at the environment abominable, the time is urgent, the product is many kinds, under the condition such as structure curved surface complicacy, traditional industrial robot mostly needs the operator at the field remote control in the course of the operation, can not carry out remote control when working to industrial robot according to the demand, consequently, the control system that an industrial robot that can remote control worked is needed now to improve robot operating capacity urgently.
Disclosure of Invention
The technical task of the present invention is to provide a control system for remotely controlling an industrial robot to work, which solves the problems mentioned in the background art.
The technical scheme of the invention is realized as follows:
a control system for remotely controlling the operation of an industrial robot comprises a main controller, a liquid crystal touch screen device, a wireless communication device, a brake control device, a motor drive control device, an obstacle avoidance and detection device, a sensor management device, an image data acquisition module device, a data storage device, a voice recognition module device, a path recognition and detection device, a power management device, a system diagnosis and alarm device, a global environment maintenance device, a motor steering control device and an execution monitoring device, wherein the output end of the main controller is respectively equal to the liquid crystal touch screen device, the wireless communication device, the brake control device, the motor drive control device, the obstacle avoidance and detection device, the sensor management device, the image data acquisition module device, the data storage device, the voice recognition module device, the motor drive control device, the obstacle avoidance and detection device, the image data acquisition module device, the data storage device, the voice recognition module device, The path identification and detection device, the power management device, the system diagnosis and alarm device, the global environment maintenance device, the motor steering control device and the execution monitoring device are connected.
Preferably, the data storage device comprises a database management module and a database query module, wherein the database management module comprises a user database management module and a measurement database management module, and the database query module comprises a point number query module according to measuring points and a monitoring date query module according to monitoring dates.
Preferably, the method for acquiring information by the robot comprises the following specific steps: carrying out system initialization on the system; information is acquired to obtain an information acquisition module; carrying out information preprocessing through the acquired information; transmitting the preprocessed information to a background; and the information received by the background executes the instruction when receiving the instruction within the specified time range, and returns to the information acquisition module to acquire the information again when not receiving the instruction within the specified time range.
Preferably, the image data acquisition module device comprises a capacitor C1, a capacitor C2, a capacitor C3, a capacitor C4, a capacitor C5, a capacitor C6, a resistor R1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a resistor R6, a resistor R7, a resistor R8, a resistor R9, a resistor R10, a resistor R11, a resistor R12, a resistor R13, a resistor R14, a resistor R15, a resistor R16, a resistor R17, an operational amplifier U1, an operational amplifier U2, an operational amplifier U3, a diode D1 and a diode D2.
Preferably, one end of the capacitor C1 is connected to one end of the operational amplifier U1 and connected to a power supply, the other end of the capacitor C1 is connected to ground, the anode of the operational amplifier U1 is connected to one end of the resistor R4, the other end of the resistor R4 is connected to ground, one end of the operational amplifier is connected to one end of the resistor R7, the capacitor C2 and one end of the resistor R1, the other end of the resistor R7 is connected to the anode of the diode D1 and the cathode of the diode D2, the other ends of the diode D1 and the diode D2 are connected to the power supply, the other end of the capacitor C2 is connected to the cathode of the operational amplifier U1 and one end of the resistor R3, the other end of the resistor R3 is connected to one end of the resistor R1, the capacitor C3 and one end of the resistor R2, the other end of the resistor R2 is connected to one end of the resistor R5 and the resistor R6, the other ends of the resistor R5 and the resistor R6 are connected and grounded, the other end of the operational amplifier U1 is connected with one end of the capacitor C4 and connected with a power supply in parallel, and the other end of the capacitor C4 is grounded.
Preferably, one end of the capacitor C5 is connected to the positive electrode of the op amp U2 and one end of the capacitor C6 respectively and is connected to a power supply, the other end of the capacitor C5 is connected to the other end of the capacitor C6 and the positive electrode of the op amp U3 and one end of the resistor R8 respectively and is connected to a power supply, the other end of the resistor R8 is grounded, the negative electrode of the op amp U3 is connected to the resistor R13 and one end of the resistor R15 and the resistor R17 respectively, the other end of the resistor R17 is connected to one end of the op amp U3 and is connected to a power supply, the other end of the resistor R13 is connected to the resistor R10, the two ends of the resistor R10 are connected to the resistor R9 and one end of the resistor R11 respectively, the other ends of the resistor R11 and the other end of the resistor R11 are connected to a power supply, the other end of the resistor R11 is connected to one end of the op amp U11 and one end of the negative electrode of the op amp U11 and the resistor R11 are connected to one end of And the other end of the resistor R12 is connected with a power supply, and the other end of the resistor R16 is connected with one end of the operational amplifier U2 and connected with the power supply in parallel.
Preferably, the image data acquisition module device comprises a main program, system initialization, DSP serial port initialization, a serial port terminal setting module, a waiting interrupt, an interrupt occurrence, an acquisition interrupt, camera data reading, image data sending completion and an interrupt return.
Preferably, the main program is connected with an input end of the system initialization, an output end of the system initialization is connected with an input end of the DSP serial port initialization, an output end of the DSP serial port initialization is connected with an input end of the serial port terminal setting module, the serial port terminal setting module receives information to wait for interruption, acquisition interruption is performed after interruption occurs, camera data is read after the acquisition is interrupted, the acquisition is interrupted and returned after the acquisition is not interrupted, the read camera data transmits the read data to image data, the read camera data transmits the image data after the transmission is completed and returns to the interruption, and the read camera data transmits the image data after the transmission is not completed and returns to the image data for retransmission.
Compared with the prior art, the invention has the advantages and positive effects that:
1. the requirement of the professional skill level of an operator is reduced, the operator can avoid the severe operation environment on site, remote real-time control and rapid programming are realized, the efficiency is improved, and the personal safety is guaranteed.
2. The robot can be remotely controlled conveniently, and the operation of the robot in industrial production is facilitated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a main block diagram of a control system for remotely controlling an industrial robot operation according to an embodiment of the present invention;
fig. 2 is a flow chart of image data acquisition of a control system for telemanipulating an industrial robot operation according to an embodiment of the present invention;
FIG. 3 is a data storage system block diagram of a control system for remotely manipulating an industrial robot operation in accordance with an embodiment of the present invention;
fig. 4 is a brake control system flow diagram of a control system for remotely operating an industrial robot according to an embodiment of the present invention;
fig. 5 is a circuit diagram of a data acquisition system of a control system for remotely controlling an industrial robot operation according to an embodiment of the present invention.
In the figure:
1. a main controller; 2. a liquid crystal touch screen device; 3. a wireless communication device; 4. a brake control device; 5. a motor drive control device; 6. an obstacle avoidance and detection device; 7. a sensor management device; 8. an image data acquisition module device; 9. a data storage device; 10. a speech recognition module device; 11. a path identification and detection device; 12. a power management device; 13. a system diagnostic and alarm device; 14. a global environment maintenance device; 15. a motor steering control device; 16. an execution monitoring device; 17. a database management module; 18. and a database query module.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described with reference to the accompanying drawings and examples. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
The invention is further described with reference to the following figures and specific examples.
In a first embodiment, as shown in fig. 1, a control system for remotely controlling an industrial robot according to an embodiment of the present invention includes a main controller 1, a liquid crystal touch panel device 2, a wireless communication device 3, a brake control device 4, a motor drive control device 5, an obstacle avoidance and detection device 6, a sensor management device 7, an image data acquisition module device 8, a data storage device 9, a voice recognition module device 10, a path recognition and detection device 11, a power management device 12, a system diagnosis and alarm device 13, a global environment maintenance device 14, a motor steering control device 15, and an execution monitoring device 16, where an output end of the main controller 1 is respectively connected to the liquid crystal touch panel device 2, the wireless communication device 3, the brake control device 4, the motor drive control device 5, the obstacle avoidance and detection device 6, The sensor management device 7, the image data acquisition module device 8, the data storage device 9, the voice recognition module device 10, the path recognition and detection device 11, the power management device 12, the system diagnosis and alarm device 13, the global environment maintenance device 14, the motor steering control device 15, and the execution monitoring device 16 are connected.
In the second embodiment, as shown in fig. 3, the data storage device 9 includes a database management module 17 and a database query module 18, the database management module 17 includes a user database management module and a measurement database management module, and the database query module 18 includes a query module according to the point number of the measuring point and a query module according to the monitoring date.
In a third embodiment, as shown in fig. 4, the method for acquiring information by a robot includes the following specific steps:
s101: carrying out system initialization on the system;
s102: information is acquired to obtain an information acquisition module;
s103: carrying out information preprocessing through the acquired information;
s104: transmitting the preprocessed information to a background;
s105: and the information received by the background executes the instruction when receiving the instruction within the specified time range, and returns to the information acquisition module to acquire the information again when not receiving the instruction within the specified time range.
In a fourth embodiment, as shown in fig. 2, the image data acquisition module device 8 includes a main program, a system initialization, a DSP serial port initialization, a serial port terminal setting module, a wait interrupt, an interrupt occurrence, an acquisition interrupt, a camera data reading, an image data sending, a sending completion, and an interrupt return, the main program is connected to an input end of the system initialization, an output end of the system initialization is connected to an input end of the DSP serial port initialization, an output end of the DSP serial port initialization is connected to an input end of the serial port terminal setting module, the serial port terminal setting module receives information to wait for the interrupt, the acquisition interrupt is performed after the interrupt occurrence, the camera data is read after the interrupt, the acquisition is returned after the interrupt, the camera data is read to send the image data, the interrupt return is performed after the sending is completed, and returning the image data to be sent for resending after the sending is not finished.
In a fifth embodiment, as shown in fig. 5, the image data acquisition module apparatus 8 includes a capacitor C1, a capacitor C2, a capacitor C3, a capacitor C4, a capacitor C5, a capacitor C6, a resistor R1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a resistor R6, a resistor R7, a resistor R8, a resistor R9, a resistor R10, a resistor R11, a resistor R12, a resistor R13, a resistor R14, an operational amplifier U14, a diode D14, and a diode D14, wherein one end of the capacitor C14 is connected to one end of the operational amplifier U14 and connected to a power supply, the other end of the capacitor C14 is grounded, an anode of the operational amplifier U14 is connected to one end of the resistor R14 and a cathode of the resistor R14 are connected to one end of the capacitor C14 and a cathode of the diode D14, and a cathode of the resistor R14 are connected to the diode R14, the other ends of the diode D1 and the diode D2 are both connected with a power supply, the other end of the capacitor C2 is respectively connected with the cathode of the operational amplifier U1 and one end of the resistor R3, the other end of the resistor R3 is respectively connected with one ends of the resistor R1, the capacitor C3 and the resistor R2, the other end of the resistor R2 is respectively connected with one ends of the resistor R5 and the resistor R6, the other ends of the resistor R5 and the resistor R6 are both connected and grounded, the other end of the operational amplifier U1 is connected with one end of the capacitor C4 and grounded, the other end of the capacitor C4 is grounded, one end of the capacitor C5 is respectively connected with the anode of the operational amplifier U2 and one end of the capacitor C6 and grounded, the other end of the capacitor C5 is respectively connected with the other end of the capacitor C6 and the anode of the operational amplifier U3 and one end of the resistor R8 and grounded, the other end of the resistor R8 is grounded, the negative electrode of the operational amplifier U3 is respectively connected with one ends of the resistor R13, the resistor R15 and the resistor R17, the other end of the resistor R17 is connected with one end of the operational amplifier U3 and connected with a power supply, the other end of the resistor R13 is connected with the resistor R10, the two ends of the resistor R10 are respectively connected with one ends of the resistor R9 and the resistor R11, the other ends of the resistor R9 and the resistor R11 are both connected with a power supply, the other end of the resistor R15 is connected with one end of the resistor R14, the other end of the resistor R14 is respectively connected with the negative electrodes of the resistor R16 and the operational amplifier U2 and one end of the resistor R12, the other end of the resistor R12 is connected with a power supply, and the other end of the resistor R16 is connected with one end of the operational amplifier U2 and connected with a.
For the convenience of understanding the technical solutions of the present invention, the following detailed description will be made on the working principle or the operation mode of the present invention in the practical process.
In practical application, the terminal in the robot control system is connected with the client, the robot is controlled under remote control, the robot is prompted to operate in industrial production, the robot is conveniently and effectively controlled, and the driving robot can avoid various obstacles and improve the working efficiency of the robot, and in industrial production plants, by initializing the system, the information on site is effectively collected, the collected data information is preprocessed, the processed data is transmitted to the background through the sending module, and in the sending process, the command is directly executed after the information receives the command within the specified time range, and if the command is not received within the specified time range, the information returns to the information acquisition module again for information acquisition, so that the robot can better perform operation on a preset line.
The present invention can be easily implemented by those skilled in the art from the above detailed description. It should be understood, however, that the intention is not to limit the invention to the particular embodiments described. On the basis of the disclosed embodiments, a person skilled in the art can combine different technical features at will, thereby implementing different technical solutions.
Claims (1)
1. The utility model provides a control system of remote control industrial robot operation, its characterized in that, including main control unit (1), liquid crystal touch screen device (2), wireless communication device (3), braking controlling means (4), motor drive controlling means (5), keep away barrier and detection device (6), sensor management device (7), image data acquisition module device (8), data storage device (9), voice recognition module device (10), route discernment and detection device (11), power management device (12), system diagnosis and alarm device (13), global environment maintain device (14), motor steering controlling means (15) and execution monitoring device (16), wherein, the output of main control unit (1) equally divide respectively with liquid crystal touch screen device (2), wireless communication device (3), braking controlling means (4), The motor driving control device (5), the obstacle avoidance and detection device (6), the sensor management device (7), the image data acquisition module device (8), the data storage device (9), the voice recognition module device (10), the path recognition and detection device (11), the power supply management device (12), the system diagnosis and alarm device (13), the global environment maintenance device (14), the motor steering control device (15) and the execution monitoring device (16) are connected;
the data storage device (9) comprises a database management module (17) and a database query module (18), wherein the database management module (17) comprises a user database management module and a measurement database management module, and the database query module (18) comprises a query module according to the number of points to be measured and a query module according to the monitoring date;
the image data acquisition module device (8) comprises a main program, system initialization, DSP serial port initialization, a serial port terminal setting module, a waiting interrupt, an interrupt occurrence, acquisition interrupt, camera data reading, image data sending completion and an interrupt return;
the method for acquiring the information by the robot comprises the following specific steps:
carrying out system initialization on the system;
information is acquired to obtain an information acquisition module;
carrying out information preprocessing through the acquired information;
transmitting the preprocessed information to a background;
the information received by the background executes the instruction when receiving the instruction within the specified time range, and returns to the information acquisition module to perform information acquisition again when not receiving the instruction within the specified time range;
the main program is connected with the initialized input end of the system, the initialized output end of the system is connected with the initialized input end of the DSP serial port, the initialized output end of the DSP serial port is connected with the input end of the serial port terminal setting module, the serial port terminal setting module receives information to wait for interruption, the acquisition is interrupted after the interruption occurs, the camera data is read after the acquisition is interrupted, the acquisition is interrupted and returned after the acquisition is not interrupted, the read camera data sends the read data to image data, the interruption is carried out after the sending is finished, and the image data is sent again after the sending is not finished;
the image data acquisition module device (8) comprises a capacitor C1, a capacitor C2, a capacitor C3, a capacitor C4, a capacitor C5, a capacitor C6, a resistor R1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a resistor R6, a resistor R7, a resistor R8, a resistor R9, a resistor R10, a resistor R11, a resistor R12, a resistor R13, a resistor R14, a resistor R15, a resistor R16, a resistor R17, an operational amplifier U1, an operational amplifier U2, an operational amplifier U3, a diode D1 and a diode D2;
one end of the capacitor C1 is connected to one end of the operational amplifier U1 and connected to a power supply, the other end of the capacitor C1 is grounded, the anode of the operational amplifier U1 is connected to one end of the resistor R4, the other end of the resistor R4 is grounded, one end of the operational amplifier is connected to the resistor R7 and one end of the capacitor C2 and one end of the resistor R1, the other end of the resistor R7 is connected to the anode of the diode D1 and the cathode of the diode D2, the other ends of the diode D1 and the diode D2 are connected to the power supply, the other end of the capacitor C2 is connected to the cathode of the operational amplifier U1 and one end of the resistor R3, the other end of the resistor R3 is connected to one end of the resistor R1, the capacitor C3 and one end of the resistor R2, and the other end of the resistor R2 is connected to the resistor R5 and one end of the resistor R6, the other ends of the resistor R5 and the resistor R6 are connected and grounded, the other end of the operational amplifier U1 is connected with one end of the capacitor C4 and connected with a power supply in parallel, and the other end of the capacitor C4 is grounded;
one end of the capacitor C5 is connected to the anode of the op-amp U2 and one end of the capacitor C6 respectively and is connected to a power supply, the other end of the capacitor C5 is connected to the other end of the capacitor C6 and the anode of the op-amp U3 and one end of the resistor R8 respectively and is connected to a power supply, the other end of the resistor R8 is grounded, the cathode of the op-amp U3 is connected to the resistor R13 and one end of the resistors R15 and R17 respectively, the other end of the resistor R17 is connected to one end of the op-amp U3 and is connected to a power supply, the other end of the resistor R13 is connected to the resistor R10, the two ends of the resistor R10 are connected to the resistor R9 and one end of the resistor R11 respectively, the other ends of the resistor R11 and the resistor R11 are connected to a power supply, the other end of the resistor R11 is connected to one end of the resistor R11 and the cathode of the op-amp U11 and one end of the resistor R11, the other end of the resistor R12 is connected with a power supply, and the other end of the resistor R16 is connected with one end of the operational amplifier U2 and connected with the power supply in parallel.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011034169.0A CN112276941A (en) | 2019-07-28 | 2019-07-28 | Control system for remotely controlling industrial robot and information acquisition method |
| CN201910685913.4A CN110293565B (en) | 2019-07-28 | 2019-07-28 | Control system for remotely controlling industrial robot to operate |
| PCT/CN2019/103565 WO2021017092A1 (en) | 2019-07-28 | 2019-08-30 | Control system for remotely controlling operations of industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910685913.4A CN110293565B (en) | 2019-07-28 | 2019-07-28 | Control system for remotely controlling industrial robot to operate |
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| CN202011034169.0A Division CN112276941A (en) | 2019-07-28 | 2019-07-28 | Control system for remotely controlling industrial robot and information acquisition method |
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| CN110293565A CN110293565A (en) | 2019-10-01 |
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| CN112276946A (en) * | 2020-10-20 | 2021-01-29 | 昆山同日工业自动化有限公司 | Robot application system based on industrial internet platform |
| CN113516374B (en) * | 2021-06-18 | 2023-04-07 | 云南电网有限责任公司保山供电局 | Indoor fire extinguishing system of electronic equipment and unmanned on duty place |
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2019
- 2019-07-28 CN CN202011034169.0A patent/CN112276941A/en active Pending
- 2019-07-28 CN CN201910685913.4A patent/CN110293565B/en active Active
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101441456A (en) * | 2008-12-22 | 2009-05-27 | 东北大学 | Double-core embedded type networking data collector and blind source separating filtering method |
| CN104950723A (en) * | 2015-06-18 | 2015-09-30 | 南京采薇且歌信息科技有限公司 | Industrial robot control system |
| CN207127895U (en) * | 2017-07-25 | 2018-03-23 | 杭州安脉盛智能技术有限公司 | Industrial robot equipment data acquisition analyzing |
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| CN112276941A (en) | 2021-01-29 |
| WO2021017092A1 (en) | 2021-02-04 |
| CN110293565A (en) | 2019-10-01 |
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