CN111707200A - Electrode detection device of brushless motor connection unit - Google Patents
Electrode detection device of brushless motor connection unit Download PDFInfo
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- CN111707200A CN111707200A CN202010457867.5A CN202010457867A CN111707200A CN 111707200 A CN111707200 A CN 111707200A CN 202010457867 A CN202010457867 A CN 202010457867A CN 111707200 A CN111707200 A CN 111707200A
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- electrode
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/0094—Structural association with other electrical or electronic devices
Abstract
The invention relates to an electrode detection device of a brushless motor connecting unit, which comprises a detection base, wherein a detection position matched with the brushless motor connecting unit is arranged on the detection base, and a telescopic driving mechanism is also arranged; the movable end of the telescopic driving mechanism is provided with a detection integrated block, one end of the detection integrated block, which faces to the electrode, is provided with a laser sensor, the laser sensor comprises a laser generator and a laser receiver which are respectively arranged at two sides of the detection integrated block and connected through a light path, and the light path is vertical to the axial direction of the electrode; the detection integrated block is also provided with a telescopic probe, the probe and the electrode are coaxially arranged, one end of the probe is fixedly connected with the detection integrated block, and the other end of the probe is matched with the electrode; the probe is arranged in the light path of the laser generator, a first through hole parallel to the light path is formed in the probe, and the light path can penetrate through the first through hole when detection is carried out. The invention has the advantages of high detection electrode height, high detection precision and high efficiency.
Description
Technical Field
The invention relates to the technical field of detection tools, in particular to an electrode detection device of a brushless motor connection unit.
Background
The brushless motor has a wide application range, the brushless motor connection unit is an important part of the motor, in the manufacturing process of the motor part, some types of brushless motor connection units need to be provided with a PCB (printed circuit board) in the manufacturing process, and before the PCB is arranged, whether the heights of the electrodes of the brushless motor connection units are consistent or not and whether the heights exceed a tolerance or not need to be checked, and whether the electrodes are arranged at the positions required by a design drawing or not needs to be checked. In actual production, the inspection is usually carried out in a visual inspection or scale measurement mode, the inspection precision and efficiency are not high, and time and labor are wasted.
Disclosure of Invention
The invention provides an electrode detection device of a brushless motor connection unit aiming at the technical problems in the prior art, and solves the problems of low electrode height detection precision and efficiency of the brushless motor connection unit.
The technical scheme for solving the technical problems is as follows:
an electrode detection device of a brushless motor connection unit comprises a detection base, wherein a detection position matched with the brushless motor connection unit is arranged on the detection base, a telescopic driving mechanism is fixedly arranged on the detection base, and the movement direction of the telescopic driving mechanism is the same as the axial direction of an electrode; the flexible driving mechanism is characterized in that a detection integrated block is mounted on a movable end of the flexible driving mechanism, a laser sensor is arranged on one end, facing the electrode, of the detection integrated block, the laser sensor comprises a laser generator and a laser receiver which are respectively arranged on two sides of the detection integrated block and connected through a light path, and the light path is perpendicular to the axial direction of the electrode; the detection integrated block is also provided with a telescopic probe, the probe and the electrode are coaxially arranged, one end of the probe is fixedly connected with the detection integrated block, and the other end of the probe is matched with the electrode; the probe is arranged in the light path of the laser generator, a first through hole parallel to the light path is formed in the probe, and when detection is carried out, the light path can penetrate through the first through hole.
Preferably, the detection integrated block is provided with at least two probes, and the at least two probes are positioned in the light path and arranged side by side.
Preferably, an elastic element is coaxially arranged at one end of the probe, which is far away from the electrode, a sleeve is arranged outside the elastic element, one end of the elastic element is fixedly connected with the end part of the probe, the other end of the elastic element is fixedly connected with the inner wall of the sleeve, and the outer wall of the sleeve is fixedly connected with the detection integrated block.
Preferably, the elastic element is any one of a compression spring and a compression spring sheet.
Preferably, the sleeve is provided with a through groove parallel to the axial direction of the probe, and a pin is arranged at the end part of the probe connected with the elastic element and matched with the through groove.
Preferably, the detection integrated block is further provided with a second through hole, the second through hole is coaxial with the probe, and the probe is arranged in the second through hole.
Preferably, a cover plate is fixedly arranged at one end, far away from the electrode, of the detection integrated block, and the cover plate is arranged at the end part of the second through hole.
Preferably, a first positioning step is arranged in the second through hole, a second positioning step is arranged at the end part, close to the electrode, of the probe, and the step surface of the first positioning step is matched with the step surface of the second positioning step.
Preferably, the detection integrated package is further provided with a third through hole, the third through hole is coaxial with the light path, and the laser generator and the laser receiver are respectively arranged at two ends of the third through hole.
Preferably, the telescopic driving mechanism is any one of an air cylinder, an electric cylinder and a hydraulic cylinder, a stroke detection sensor is fixedly arranged on the telescopic driving mechanism, and the stroke detection sensor is used for detecting whether the movable end of the telescopic driving mechanism moves in place.
The invention has the beneficial effects that: the electrode detection device of the brushless motor connection unit is used for detecting the height of an electrode on the brushless motor connection unit, when the detection is not carried out, the probe extends out towards the direction of the electrode under the action of the elastic force of the elastic element, the through hole on the probe is staggered with the light path, the probe blocks the light path of the laser sensor, and the laser sensor cannot detect a laser signal; when the detection is carried out, the detection integrated block moves towards the electrode under the driving of the telescopic driving cylinder, the electrode is tightly abutted to the bottom of the probe and pushes the probe along the axial direction of the electrode, the arrangement is that when the through hole of the probe is overlapped with the light path, the telescopic driving cylinder reaches the stroke end and stops moving, at the moment, laser penetrates through the through hole in the probe, the laser receiver receives an optical signal sent by the laser generator, then the signal with qualified electrode height is output, and the detection precision is high. If a plurality of parallel probes in the same light path are used for simultaneously detecting a plurality of parallel electrodes, when the height of any one of the electrodes is too high or too low and the difference value exceeds the tolerance (the aperture of the through hole on the probe is in direct proportion to the height tolerance of the electrode), the light path cannot form a passage, so that the purpose of simultaneously detecting the heights of the plurality of parallel electrodes can be achieved, and the detection efficiency is improved. If the electrode is inclined or bent, the height of the electrode cannot reach the standard height, and the defective product can still be screened by detecting the height through the device provided by the invention.
The laser beam can set up the size of sectional area as required, can set up to a very little value, and the tolerance size of electrode height comes the sectional area size that corresponds to set up the laser beam and passes through the through-hole size of probe, and its detection accuracy is high, efficient, has saved time and human cost. The purpose of ensuring the quality in the automatic assembly production of the brushless motor is realized by automatically detecting the high precision of the electrodes of the brushless motor connecting unit, so that the electrode assembly problem of the brushless motor connecting unit is reduced or even disappears, the qualification rate of products is improved, and the quality of finished products of the brushless motor is improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a testing base according to the present invention;
FIG. 3 is a schematic view of a brushless motor connection unit according to the present invention;
FIG. 4 is a schematic diagram of a detection integrated block structure according to the present invention;
FIG. 5 is a cross-sectional view of the assembly of the test manifold of the present invention;
FIG. 6 is a schematic diagram of the structure of a probe according to the present invention;
fig. 7 is a control schematic diagram of an embodiment of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. the detection device comprises a detection base, 2, a brushless motor connecting unit, 201, an electrode, 3, a telescopic driving mechanism, 301, a stroke detection sensor, 4, a detection integrated block, 401, a second through hole, 402, a cover plate, 403, a first positioning step, 404, a third through hole, 5, a laser sensor, 6, a probe, 601, a first through hole, 602, a sleeve, 603, an elastic element, 604, a pin, 605, a through groove, 606 and a second positioning step.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
The electrode detection device of the brushless motor connection unit shown in fig. 1-6 comprises a detection base 1, as shown in fig. 2, the detection base 1 is L-shaped, an acute angle side on the detection base 1 is provided with a detection position matched with the brushless motor connection unit 2 on one horizontal surface of the detection base 1, and the brushless motor connection unit 2 is fixedly installed on the detection position. As shown in fig. 3, which is a schematic structural diagram of the brushless motor connection unit 2, the brushless motor connection unit 2 is provided with an electrode 201, and the detecting device is designed to detect whether the height of the electrode 201 reaches the standard. The vertical one side to on the detection base 1 still fixedly is provided with flexible actuating mechanism 3, flexible actuating mechanism 3's direction of motion with the axial syntropy of electrode 201. Install on the movable end of flexible actuating mechanism 3 and detect integrated package 4, detect on the integrated package 4 towards the one end of electrode 201 is provided with laser sensor 5, laser sensor 5 is including setting up respectively detect 4 both sides of integrated package, and through laser generator and the laser receiver that the light path is connected, laser generator sends laser, laser receiver receives laser, and the propagation path of laser has formed the light path, the light path is perpendicular the axial setting of electrode 201. The detection integrated block 4 is also provided with a telescopic probe 6, and the probe 6 and the electrode 201 are coaxially arranged, namely the probe 6 is vertical to the light path. One end of the probe 6 is fixedly connected with the detection integrated block 4, and the other end of the probe is matched with the end part of the electrode 201; the probe 6 is arranged in the light path of the laser generator, the probe 6 is provided with a first through hole 601 parallel to the light path, and when detection is carried out, the light path can penetrate through the first through hole 601.
The detection position is matched with the shape of the brushless motor connecting unit 2, and the detection position positions the brushless motor connecting unit 2 so as to prevent the position change of the electrode 201 from influencing the test result in the detection process. The telescopic driving mechanism 3 provides driving power, the detection integrated block 4 is driven to move towards the electrode 201 on the brushless motor connecting unit 2 during detection, and the detection integrated block 4 is driven to be far away from the detected electrode 201 after detection is finished. The laser generator sends out a laser signal, and when the light path is conducted, the laser receiver receives the laser signal and sends out an electric signal qualified for detection. The probe 6 can be pushed by the end part of the electrode 201 to move in a telescopic manner, when the height of the electrode 201 is qualified, the first through hole 601 on the probe 6 is overlapped with the light path, the laser signal passes through the first through hole 601, the light path is conducted, and the laser sensor 5 sends out a qualified detection signal; when the height of the electrode 201 is unqualified, too high or too low, the first through hole 601 is staggered with the light path of the laser signal, the light path is blocked by the probe 6, and after the detection time is reached, the laser receiver cannot receive the laser signal, so that the detection is unqualified. The tolerance of the height of the electrode 201 determines the aperture size of the first through hole 601, and the larger the tolerance, the larger the aperture of the first through hole 601.
As shown in the cross-sectional view of fig. 5, at least two probes 6 are disposed on the detection integrated package 4, and at least two probes 6 are disposed side by side along the optical path, that is, all probes 6 are disposed in the optical path and disposed side by side. As shown in fig. 1, two rows of electrodes 201 are disposed on the brushless motor connection unit 2 in this embodiment, and two rows of probes 6 corresponding to the number and positions of the electrodes 201 are correspondingly disposed on the detection integrated package 4. Each row of probes 6 also needs to be provided with a group of corresponding laser sensors 5, and each group of laser sensors 5 is matched with each row of probes 6 to detect the height of one row of electrodes 201. When any one electrode 201 in the row of electrodes 201 is unqualified in height, or any one electrode 201 is unqualified in height due to inclination, bending and the like, the detection device cannot output qualified detection signals, and the quality of the electrodes 201 on the brushless motor connecting unit 2 is strictly controlled.
As shown in fig. 5 to 6, an elastic element 603 is coaxially disposed at one end of the probe 6, which is far away from the electrode 201, a sleeve 602 is disposed outside the elastic element 603, one end of the elastic element 603 is fixedly connected to an end of the probe 6, the other end of the elastic element is fixedly connected to an inner wall of the sleeve 602, and an outer wall of the sleeve 602 is fixedly connected to the detection integrated package 4. The elastic element 603 drives the main body of the probe 6 to move when extending in the sleeve 602, and the sleeve 602 plays a role in guiding and supporting for the extension of the elastic element 603, so that the probe 6 can be integrally detached and installed when needing to be replaced.
Preferably, the elastic element 603 is any one of a compression spring and a compression spring plate. The compression spring sheet may be a folding type compression spring sheet. The elastic member 603 in this embodiment preferably uses a compression spring.
As shown in fig. 6, a through groove 605 parallel to the axial direction of the probe 6 is provided on the sleeve 602, and a pin 604 is provided at an end of the probe 6 connected to the elastic element 603, and the pin 604 is engaged with the through groove 605. The through groove 605 is matched with the pin 604, so that the probe 6 is prevented from rotating in the spring expansion process, and the first through hole 601 and the light path cannot be overlapped, so that the detection result is influenced. To avoid this problem, the cross section of the probe 6 may also be non-circular, such as a kidney-circular shape or a rectangular shape, to prevent rotation problems during movement of the probe 6.
As shown in fig. 4 to 5, the detection integrated package 4 is further provided with a second through hole 401, the second through hole 401 and the probe 6 are coaxially arranged, and the probe 6 is arranged in the second through hole 401. The second through hole 401 provides support and guidance for the movement of the probe 6. The shape of the second through hole 401 is adapted to the shape of the probe 6.
As shown in fig. 4 to 5, a cover plate 402 is further fixedly disposed on one end of the detection integrated package 4 away from the electrode 201, and the cover plate 402 is disposed at an end of the second through hole 401. The cover plate 402 is arranged to provide a firm fixing mode for the probe 6, and to facilitate the disassembly and replacement of the probe 6, when the probe 6 needs to be replaced, the cover plate 402 is opened, and the probe 6 is disassembled; when the probes 6 are mounted, the cover plate 402 is fixedly mounted on the detection integrated package 4.
As shown in fig. 5, a first positioning step 403 is disposed in the second through hole 401, a second positioning step 606 is disposed at an end of the probe 6 close to the electrode 201, and a step surface of the first positioning step 403 is matched with a step surface of the second positioning step 606. The first positioning step 403 and the second positioning step 606 cooperate with each other to limit the stroke of the probe 6 toward the electrode 201, so as to prevent the probe 6 from falling out of the second through hole 401. The first positioning step 403 and the second positioning step 606 are matched with the bottom of the cover plate 402, so that better positioning is provided for the probe 6.
As shown in fig. 5, a third through hole 404 is further disposed on the detection integrated package 4, the third through hole 404 is disposed coaxially with the optical path, and the laser generator and the laser receiver are disposed at two ends of the third through hole 404, respectively. The third through hole 404 and the second through hole 401 are perpendicular to each other and intersect with each other, the probe 6 passes through the third through hole 404, the first through hole 601 on the probe 6 is parallel to the third through hole 404, and when the optical path is conducted, the first through hole 601 and the third through hole 404 are overlapped. The third through hole 404 provides a mounting position for the laser sensor 5 and also provides a light path for the laser signal, and simultaneously prevents the laser offset from interfering with other equipment or personnel outside the detection device in an unexpected situation.
Preferably, the telescopic driving mechanism 3 is any one of an air cylinder, an electric cylinder and a hydraulic cylinder, a stroke detection sensor 301 is fixedly arranged on the telescopic driving mechanism 3, and the stroke detection sensor 301 is used for detecting whether the movable end of the telescopic driving mechanism 3 moves in place. In the present embodiment, an air cylinder is used as the telescopic driving mechanism 3, and an air cylinder sensor is used as the stroke detection sensor 301.
As shown in fig. 7, which is a control schematic diagram of this embodiment, the detection controller is configured to control the laser detection module and the air cylinder control module, the laser sensor outputs a laser signal and feeds back an electrical signal indicating whether the optical path is on, and the air cylinder control module outputs a control signal to the ascending solenoid valve and the descending solenoid valve through a signal returned by the air cylinder sensor to control the ascending or descending of the air cylinder piston.
The detection method based on the electrode 201 detection device of the brushless motor connection unit 2 comprises the following working procedures:
the detection travel and the detection time of the travel detection sensor 301 are set in advance through the standard height of the detected electrode 201;
placing the brushless motor connection unit 2 on the detection position with the electrode 201 facing the probe 6;
starting the telescopic driving mechanism 3, moving the movable end of the telescopic driving mechanism 3 to drive the detection integrated block 4 to move towards the electrode 201, and pushing the electrode 201 and the probe 6 one by one to push the probe 6 to the inside of the detection integrated block 4;
after the stroke detection sensor 301 detects that the movable end of the telescopic driving mechanism 3 reaches a preset stroke, the stroke detection sensor 301 sends a stop motion signal, and the telescopic driving mechanism 3 stops moving;
the laser sensor 5 detects whether the light path is conducted, if so, a corresponding electric signal is output, and the height of the electrode 201 is judged to be qualified; if the light path is not conducted, the laser sensor 5 does not respond, and after the preset detection time is reached, the height of the electrode 201 is judged to be unqualified;
the movable end of the telescopic driving mechanism 3 moves to drive the detection integrated block 4 to move away from the electrode 201, and after the stroke detection sensor 301 detects that the movable end of the telescopic driving mechanism 3 reaches a preset stroke, the detection is finished.
The electrode detection device of the brushless motor connecting unit is used for detecting the height of an electrode 201 on a brushless motor connecting unit 2, when the detection is not carried out, a probe 6 extends out towards the electrode 201 under the action of the elastic force of an elastic element 603, a through hole on the probe 6 is staggered with a light path, the probe 6 blocks the light path of a laser sensor 5, and the laser sensor 5 cannot detect a laser signal; when detecting, detect the integrated package 4 and move towards electrode 201 under the drive of flexible actuating cylinder, electrode 201 supports tightly and with probe 6 bottom and promote probe 6 along its axial, sets up in advance to when the through-hole of probe 6 overlaps with the light path, and flexible actuating cylinder reaches the stroke end and stops moving, and the through-hole on probe 6 is passed to laser this moment, and the laser receiver receives the light signal that laser generator sent, then the high qualified signal of output electrode 201, and detection accuracy is high. If a plurality of side-by-side probes 6 in the same optical path are used for simultaneously detecting a plurality of side-by-side electrodes 201, when the height of any one electrode 201 in the plurality of electrodes 201 is too high or too low and the difference exceeds the tolerance (the aperture of the through hole in the probe 6 is in direct proportion to the height tolerance of the electrode 201), the optical path cannot form a path, so that the purpose of simultaneously detecting the heights of the plurality of side-by-side electrodes 201 can be achieved, and the detection efficiency is improved. If the electrode 201 is inclined or bent, the height of the electrode inevitably cannot reach the standard height, and a defective product can still be screened by detecting the height through the device provided by the invention.
The laser beam can set up the size of sectional area as required, can set up to a very little value, and the tolerance size of passing through the electrode 201 height corresponds the sectional area size that sets up the laser beam and the through-hole size that passes through probe 6, and its detection accuracy is high, efficient, has saved time and human cost. The purpose of ensuring the quality in the automatic assembly production of the brushless motor is realized by automatically detecting the high precision of the electrode 201 of the brushless motor connecting unit 2, so that the assembly problem of the electrode 201 of the brushless motor connecting unit 2 is reduced or even disappears, the qualification rate of products is improved, and the quality of the finished brushless motor is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The electrode detection device of the brushless motor connecting unit comprises a detection base (1), wherein a detection position matched with the brushless motor connecting unit (2) is arranged on the detection base (1), and the electrode detection device is characterized in that a telescopic driving mechanism (3) is fixedly arranged on the detection base (1), and the movement direction of the telescopic driving mechanism (3) is the same as the axial direction of an electrode (201) on the brushless motor connecting unit; a detection integrated block (4) is mounted on a movable end of the telescopic driving mechanism (3), a laser sensor (5) is arranged at one end of the detection integrated block (4) facing the electrode (201), the laser sensor (5) comprises a laser generator and a laser receiver which are respectively arranged at two sides of the detection integrated block (4) and connected through a light path, and the light path is vertical to the axial direction of the electrode (201); the detection integrated block (4) is also provided with a telescopic probe (6), the probe (6) and the electrode (201) are coaxially arranged, one end of the probe (6) is fixedly connected with the detection integrated block (4), and the other end of the probe is matched with the electrode (201); the probe (6) is arranged in the light path of the laser generator, a first through hole (601) parallel to the light path is formed in the probe (6), and when detection is carried out, the light path can penetrate through the first through hole (601).
2. The electrode detecting device of the brushless motor connecting unit according to claim 1, wherein at least two probes (6) are provided on the detecting integrated block (4), and at least two probes (6) are located in the optical path and arranged side by side.
3. The electrode detecting device of the brushless motor connecting unit according to claim 1 or 2, wherein an elastic element (603) is coaxially arranged at one end of the probe (6) far away from the electrode (201), a sleeve (602) is arranged outside the elastic element (603), one end of the elastic element 603 is fixedly connected with the end of the probe (6), the other end of the elastic element 603 is fixedly connected with the inner wall of the sleeve (602), and the outer wall of the sleeve (602) is fixedly connected with the detecting manifold (4).
4. The electrode detecting device of the brushless motor connecting unit according to claim 3, wherein the elastic member (603) is any one of a compression spring or a compression spring plate.
5. The electrode detecting device of the brushless motor connecting unit according to claim 3, wherein the sleeve (602) is provided with a through groove (605) parallel to the axial direction of the probe (6), the end of the probe (6) connected with the elastic element (603) is provided with a pin (604), and the pin (604) is matched with the through groove (605).
6. The electrode detecting device of the brushless motor connecting unit according to claim 1, wherein the detecting integrated block (4) is further provided with a second through hole (401), the second through hole (401) is coaxially arranged with the probe (6), and the probe (6) is arranged in the second through hole (401).
7. The electrode detecting device of the brushless motor connecting unit according to claim 6, wherein a cover plate (402) is further fixedly arranged at one end of the detecting manifold (4) far away from the electrode (201), and the cover plate (402) is arranged at the end of the second through hole (401).
8. The electrode detecting device of the brushless motor connecting unit according to claim 6, wherein a first positioning step (403) is provided in the second through hole (401), a second positioning step (606) is provided at an end of the probe (6) near the electrode (201), and a step surface of the first positioning step (403) is matched with a step surface of the second positioning step (606).
9. The electrode detecting device of the brushless motor connecting unit according to claim 1, wherein a third through hole (404) is further formed on the detecting integrated block (4), the third through hole (404) is coaxially disposed with the optical path, and the laser generator and the laser receiver are respectively disposed at two ends of the third through hole (404).
10. The electrode detecting device of the brushless motor connecting unit according to claim 1, wherein the telescopic driving mechanism (3) is any one of a cylinder, an electric cylinder and a hydraulic cylinder, a stroke detecting sensor (301) is fixed on the telescopic driving mechanism (3), and the stroke detecting sensor (301) is used for detecting whether the movable end of the telescopic driving mechanism (3) moves in place.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010457867.5A CN111707200A (en) | 2020-05-26 | 2020-05-26 | Electrode detection device of brushless motor connection unit |
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| CN202010457867.5A CN111707200A (en) | 2020-05-26 | 2020-05-26 | Electrode detection device of brushless motor connection unit |
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| CN113551575A (en) * | 2021-06-25 | 2021-10-26 | 扬州正扬电力科技有限公司 | Battery pole correction device and correction method |
| CN113551575B (en) * | 2021-06-25 | 2023-08-11 | 扬州正扬电力科技有限公司 | Battery pole correction device and correction method |
| CN115737127A (en) * | 2022-11-30 | 2023-03-07 | 北京铸正机器人有限公司 | Detection device and detection method for positioning accuracy of tail end of surgical robot |
| CN115737127B (en) * | 2022-11-30 | 2023-07-07 | 北京铸正机器人有限公司 | Detection device and detection method for positioning precision of tail end of surgical robot |
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