CN210081785U - Motion detection device of flexible joint mechanical arm - Google Patents
Motion detection device of flexible joint mechanical arm Download PDFInfo
- Publication number
- CN210081785U CN210081785U CN201920796546.0U CN201920796546U CN210081785U CN 210081785 U CN210081785 U CN 210081785U CN 201920796546 U CN201920796546 U CN 201920796546U CN 210081785 U CN210081785 U CN 210081785U
- Authority
- CN
- China
- Prior art keywords
- joint
- arm
- wrist
- motion
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a motion detection device of flexible joint arm, including arm body part and detection control part, arm body part includes three-section armed lever and end effector, connects through flexible joint between the three-section armed lever, detection control part includes high-speed camera and acceleration sensor, and through camera and acceleration sensor's detection, the computer produces control signal drive arm motion to carry appointed target location with the load. The utility model adopts the air floating device to support the mechanical arm body to enable the mechanical arm body to be in a floating state, and can simulate the space environment; through multi-sensor fusion, the mechanical arm motion in a load state is accurately detected and controlled.
Description
Technical Field
The utility model relates to a motion detection and control field of joint type arm, concretely relates to motion detection device of flexible joint arm.
Background
With the development of space technology, artificial satellites play an important role in the fields of scientific and technical tests, weather prediction, area tracking and navigation, communication and the like, and space robots are paid more and more attention by the application of space stations, space shuttles and space robots. The space manipulator is a manipulator carried on a satellite, can realize observation and capture of space static or moving targets, mainly completes tasks such as auxiliary docking, target carrying, on-orbit construction, camera shooting, capture and release of targets such as the satellite and the like, can also be used as auxiliary equipment for the outbound activities of astronauts, and is a key supporting technology for on-orbit maintenance and construction, so the space manipulator has particularly important significance for the research of the space manipulator.
The space manipulator needs to carry out a large number of ground tests before launching along with the satellite to guarantee its reliability and stability, therefore, the ground experiment simulation platform of space manipulator plays very important effect. In the existing research work of space mechanical arms, most devices do not fully eliminate the influence of friction force, so that the experimental effect is influenced due to the fact that the experimental effect is not consistent with the actual microgravity undamped floating state. In addition, most experimental devices are replaced by small mechanical arm devices with a reduced large scale for convenient manufacturing and experiments, and the replacement devices have larger differences from actual large-size space mechanical arms in aspects of inertia characteristics, control characteristics and the like, so that experimental results lose representativeness to a certain extent. Therefore, in the ground research work of the space manipulator, the friction-free microgravity floating environment is created, and the research of adopting the manipulator with equal proportion or approximately equal proportion size is particularly important.
SUMMERY OF THE UTILITY MODEL
In order to overcome the shortcoming and the deficiency that prior art exists, the utility model provides a motion detection device of flexible joint arm. The micro-gravity environment of the space simulation mechanical arm is fully considered, and the motion detection and the accurate control of the mechanical arm in a load state are realized through multi-sensor fusion.
The utility model adopts the following technical scheme:
a motion detection device of a flexible joint mechanical arm comprises a mechanical arm body part and a detection control part;
the robot arm comprises a robot arm body part and a robot arm body part, wherein the robot arm body part comprises three sections of arm rods and a tail end effector, the three sections of arm rods are respectively an upper arm, a forearm and a wrist, one end of the upper arm is connected with a shoulder joint rotary table through a shoulder joint, the shoulder joint rotary table is fixed on an experiment table, the other end of the upper arm is connected with one end of the forearm through an elbow joint, the other end of the forearm is connected with one end of the wrist through a wrist joint, the other end of the wrist is provided with the tail end effector through a rotary joint, the elbow joint and the wrist joint are fixed on the experiment table through a joint support frame, the joint support frame is provided with an air floating device, and the;
the detection control part comprises a high-speed camera, an acceleration sensor, a charge amplifier, a visual marker, a motion control card and a computer, wherein the computer is connected with the motion control card, the charge amplifier is connected with the motion control card, the acceleration sensor is arranged in the middle of an arm rod, the acceleration sensor detects a vibration signal of the arm rod, inputs the vibration signal into the charge amplifier and inputs the vibration signal into the computer through the motion control card, the high-speed camera is arranged above the experiment table, the visual marker is arranged at the top ends of a shoulder joint, a wrist joint and an elbow joint and is in the visual field range of the high-speed camera, and the high-speed camera shoots an image containing the visual marker and inputs the image into the computer;
the detection control part also comprises a servo motor driver and a direct drive rotating motor driver, the computer obtains control signals according to signals detected by the high-speed camera and the acceleration sensor, and the control signals are respectively output to the direct drive rotating motor driver, the servo motor driver and the pneumatic circuit to drive the tail end effector, the arm rod and the joint support frame to move, so that the mechanical arm is further controlled to reach a target position.
The shoulder joint, the elbow joint and the wrist joint are identical in structure and are composed of a direct current servo motor, a harmonic reducer and a connecting flange.
The air floatation device is composed of three air floatation cushions.
The high-speed camera is installed above the center line of the length direction of the experiment table through a camera support and used for detecting and identifying position information of three joints of the arm rod.
The pneumatic circuit comprises an air pump, a pneumatic triple piece, a two-position three-way valve, a three-way pipe joint and a four-way pipe joint which are sequentially connected, and further comprises a switch valve driving circuit connected with the two-position three-way valve, and the switch valve driving circuit is connected with the motion control card.
The revolute joint connected to the end effector includes a direct drive rotary motor connected to a direct drive rotary motor driver.
The end effector is a four-finger clamping jaw.
The joint support frame comprises an elbow joint support frame and a wrist joint support frame, and the elbow joint support frame and the wrist joint support frame are different in height.
The utility model has the advantages that:
(1) the utility model utilizes the air film formed by the air floating cushion to spray pressurized air to support the mechanical arm body, thereby avoiding the direct contact between the mechanical arm body and the experiment table, and leading the system to be in a frictionless suspension state, thereby better simulating a space undamped floating state;
(2) the utility model adopts the method of combining the vision sensor and the acceleration sensor to detect the motion information of the mechanical arm, and the motion of the mechanical arm in the process of load transportation is detected and controlled by the fusion of a plurality of sensors, thereby improving the accuracy;
(3) the shoulder joint, the elbow joint and the wrist joint of the middle space mechanical arm of the utility model all adopt the flexible joints of the harmonic reducer, the harmonic transmission structure is compact, the volume is small, the weight is light, the transmission ratio is large, the bearing capacity is large, the transmission precision is high, the motion is stable, and the dynamic response is quick and accurate;
(4) the utility model discloses set up a rotation joint in wrist and terminal effect ware junction, can get the gesture to the best clamp through adjusting when terminal effect ware clamp gets the target load, control terminal effect ware rotates, can improve success rate and the fastness of getting the target object clamp.
(5) The utility model discloses can simulate and realize space manipulator and carry the accurate control of load to the target position etc. relevant operation task to each module reference scheme such as sensing, drive, motion planning, control is provided, can regard as the ground simulation experiment platform of space manipulator, provides the reference for the research and the application in the relevant field of space manipulator.
(6) The utility model discloses well arm has used the flexible joint of three harmonic, and the device still can be applied to the research in the aspect of the flexible motion characteristic of flexible joint arm under load condition.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a front view of the device of fig. 1.
Fig. 3 is a top view of the device of fig. 1.
Fig. 4 is a schematic structural diagram of the present invention.
Fig. 5 is an exploded view of the elbow joint structure.
Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings, but the present invention is not limited thereto.
Examples
As shown in fig. 1-4, the present embodiment provides a flexible joint robot arm movement detection device based on vision and acceleration sensors, which includes a robot arm body and a detection control unit;
the dashed connections in fig. 1 indicate the wiring relationships between the various devices, the directional arrows indicate the direction of transmission of the flow of sensing and control signals, and the connections of the various sensors to the drive are only one of them for illustration;
the arm body includes that upper arm 5, forearm 8 and wrist 12 totally three sections armed levers, a terminal effect ware 15, the upper arm passes through the shoulder joint and installs on shoulder joint revolving stage 2 on laboratory bench 1, and the forearm passes through elbow joint 6 and is connected with the upper arm, and the wrist passes through wrist joint and is connected with the forearm, and terminal effect ware passes through rotary joint 13 and is connected with the wrist.
The three flexible joints of the shoulder joint, the elbow joint and the wrist joint are mainly formed by combining a servo motor, a harmonic reducer and a connecting flange, and the rotating joint connected with the tail end effector is formed by a direct-drive rotating motor and a mounting flange.
The harmonic speed reducer ware that the flexible joint of arm adopted relies on the continuous elastic deformation of flexbile gear to transmit moment of torsion and motion, the contact mode between flexbile gear and the steel wheel is face contact to the number of teeth that meshes simultaneously is to more, so bearing capacity is higher, flank of tooth wearing and tearing are even, the flank clearance of flexbile gear and steel wheel changes along with the load change, when the load of flexbile gear is higher, can realize the high accuracy meshing of no backlash, the transmission precision is high, high transmission efficiency, the return difference is little, the transmission is stable.
The structure of the three flexible joints is the same, the elbow joint at the joint of the upper arm and the forearm is taken as an example, the explosion diagram of the elbow joint structure is shown in fig. 5, a servo motor 33 is connected with a key groove of a harmonic reducer 35 through a flat key, is locked by two locking screws and is fastened by a bolt through a connecting flange 34 to form a joint component, one end of the joint component is connected and fastened by a bolt through a connecting flange and a joint mounting hole 32 on a lug boss of the arm rod joint, the other end of the joint component is connected and fastened by a bolt through an output flange at the upper end of the harmonic reducer and a mounting hole in the middle of the tail end of the arm rod, an upper joint end cover 36 and a lower joint end cover 31 are respectively mounted at the upper end and the lower end of the joints of the.
The middle position of every section armed lever sets up an acceleration sensor 9 for discern the accelerated speed motion information of three-section armed lever, the elbow joint passes through elbow joint support frame 7 to be fixed on the laboratory bench, the wrist joint passes through wrist joint support frame 11 to be fixed on the laboratory bench, and three air supporting pad is all installed to two joint producer bottoms, and three air supporting pad is connected with pneumatic circuit, and it makes the arm body float to inflate the air supporting pad the marble surface of laboratory bench.
The pneumatic circuit is used for continuously supplying air to the air flotation pads at the bottoms of the two joint support frames, and consists of an air pump 25, a pneumatic triple piece 26, a switch valve driving circuit 27, a two-position three-way valve 28, a three-way pipe joint 29 and a four-way pipe joint 30, wherein the air pump and the pneumatic triple piece are sequentially connected and are connected to an input port of the two-position three-way valve, the on-off state of an air path is controlled by the switch valve driving circuit, an output port of the two-position three-way valve is connected with one port of one three-way pipe joint as input, the other two ports of the three-way pipe joint are respectively connected with one port of one four-way pipe joint, the other three ports of the two four-way pipe joints are sequentially connected with the three air flotation pads at the bottoms of the elbow joint support frames and the wrist joint support frames, and pressurized air provided by the pneumatic circuit forms, the mechanical arm is in a friction-free suspension state, and an undamped floating environment in the space is simulated;
the detection control section includes a computer 24, a motion control card 23, a charge amplifier 22, a servo motor driver 21, a direct drive rotary motor driver 20, and a switching valve drive circuit 27.
The high-speed camera 19 is installed in the middle of the experiment table 1 in the length direction through a camera installation truss 17, a camera installation plate 18 is installed in the middle of a cross rod of the camera installation truss, the high-speed camera 19 is installed on the cross rod of the truss through an installation plate, and the whole experiment table is guaranteed to be in the field of view of the high-speed camera through the arrangement of the camera and lens type selection, installation positions and the like of the high-speed camera; the acceleration sensor 9 is respectively arranged in the middle of the upper arm, the forearm and the wrist three-section arm rod through a mounting boss 37;
the computer passes through the motion control card, respectively with charge amplifier, servo motor driver, direct drive rotating electrical machines driver and ooff valve drive circuit connect, charge amplifier is connected with the acceleration sensor on the three armed levers, ooff valve drive circuit and two-position three-way valve are connected in pneumatic circuit, servo motor driver is connected with the servo motor of three flexible joint department, direct drive rotating electrical machines driver is connected with the direct drive rotating electrical machines who rotates joint department.
The utility model discloses a working process:
inputting position information of a load carrying target in a computer, detecting the positions of visual markers on three flexible joints of a mechanical arm through a high-speed camera, and extracting the relative position information of the mechanical arm and the target position through an image processing algorithm in the computer;
secondly, preliminarily planning control signals required by each arm rod and each joint through an algorithm by the computer, transmitting the control signals to a servo motor driver through a motion control card, and driving the servo motor to rotate so as to enable the mechanical arm to move towards a specified target position;
step three, an acceleration sensor detects acceleration motion information of each mechanical arm rod in real time, a coder of a servo motor detects rotation information of the motor in real time, a high-speed camera detects relative position changes of each flexible joint of the mechanical arm in real time, and all three kinds of motion information are transmitted to a computer;
step four, the computer calculates out a corrected motion control signal by fusing multi-sensor information and applying a corresponding motion control algorithm according to the obtained signals of the acceleration sensor, the encoder and the high-speed camera, and further feeds back and controls the joint servo motor to rotate;
and step five, continuously correcting the control signal to drive the mechanical arm to move by fusing multi-sensor information and real-time position information and motion information feedback, and finally enabling the tail end effector to accurately carry the load to a target position to finish the accurate carrying task of the mechanical arm to the load.
In this embodiment, the geometric dimensions of the experiment table 1 are 3180mm long × 2580mm wide × 800mm high, the experiment table base is assembled by three aluminum profiles with lengths of 1500mm, 1200mm and 800mm respectively, wherein the length direction is formed by splicing two aluminum profiles with lengths of 1500mm, the width direction is formed by splicing two aluminum profiles with lengths of 1200mm, and each joint of the profiles is fixed by angle iron; the pedestal has two-layer support, and top installation metal sheet, metal sheet are formed by two stainless steel plate concatenations that the size is 2580mm 1590mm, and the metal sheet edge is equipped with highly be 100 mm's flange, prevents the arm landing, and the polylith marble board concatenation of keeping flat above the metal sheet becomes the planarization face, and the gap is sealed through sealing material between the marble board.
The upper arm 5, the forearm 8 and the wrist 12 are made of the same three-section mechanical arm rod, are made of 7075-T7651 aluminum alloy which is commonly used for spacecrafts, and are denseDegree rho is 2820kg m-3The arm rods are thin-wall metal cylinders with the same section size, the outer diameter is 150mm multiplied by the wall thickness is 15mm, and the length of each arm rod is 1000mm long for the upper arm, 800mm long for the forearm and 500mm long for the wrist.
Servo motor 33 of the three flexible joints department of shoulder joint 3, elbow joint 6, wrist joint 10 all chooses for use the servo motor of being produced by ann chuan servo motor corporation, and the harmonic speed reducer 35 of flexible joint department all chooses for use the harmonic speed reducer of producing of Hammernace (Shanghai) trade company Limited, and the servo motor driver that three joint servo motor supporting use also chooses for use the product of ann chuan servo motor corporation, and the combination of specifically choosing for use is:
the shoulder joint adopts an Anchuan SGM7A-15AFA61 type servo motor, and the rated output power is 1.5 kW; the model of a matched servo driver is SGD7S-120A30A002, and the maximum applicable motor capacity is 1.5 kW; the harmonic reducer is selected to be of the model CSG-45-100-LW, and the reduction ratio is 1: 100;
the elbow joint adopts an Anchuan SGM7A-04AFA61 type servo motor, and the rated output power is 400W; the model of a matched servo driver is SGD7S-2R8A30A002, and the maximum applicable motor capacity is 0.4 kW; the harmonic reducer is selected to be of CSG-25-100-LW type, and the reduction ratio is 1: 100;
the wrist joint is an Anchuan SGM7A-01AFA61 type servo motor, and the rated output power is 100W; the model of a matched servo driver is SGD7S-R90A30A002, and the maximum applicable motor capacity is 0.1 kW; the harmonic reducer is selected from CSG-17-100-LW, and the reduction ratio is 1: 100.
The direct drive rotary motor 14 at the end effector revolute joint 13 is a direct drive rotary motor manufactured by Sesbury, Singapore, model ADR110-A75, with a rated torque of 1.9 Nm; the direct drive rotating motor driver used in a matched way selects a servo unit which is manufactured by Anchuan servo motor company and has the model number of SGDV-2R 8A; the end effector 15 is selected from PZV series four finger gripping jaws of SCHUNK, Male Germany; the load 16 is a square iron block load with the geometric dimension of 56mm multiplied by 70mm, and the load mass is about 1.7 kg.
The elbow joint support frame 7 is 189mm in height, the wrist joint support frame 11 is 336mm in height, three air floating cushions which are manufactured by Aerolas of Germany and are AL-60-HD + G in model are mounted at the bottoms of the elbow joint support frame and the wrist joint support frame, the diameter of a working face is 60mm, the recommended maximum load is 800N, and the three air floating cushions can support the maximum load of 2400N and are enough to support the mechanical arm joint.
The acceleration sensor 9 is a 8688A10 piezoelectric type three-way acceleration sensor produced by Kistler of Germany, the acceleration detection range is +/-10 g, the sensitivity is 500mV/g, and the frequency response is 0.5-5000 Hz.
The height of the high-speed camera mounting truss 17 is 2000mm, and the high-speed camera mounting truss is mounted at the midpoint of the length direction of the experiment table; the high-speed camera 19 is a high-speed camera of FASTCAM-SA2 of Phototron corporation in Japan, the high-speed camera is provided with a latest sharp C-MOS image sensor with ultrahigh resolution, high speed, high definition and high sensitivity, the photographing frequency can reach 1080 frames/second under 2048 multiplied by 2048 pixels, the AC power supply voltage is 100V-240V and the weight is 6.9kg, a lens of Japan rational light company is selected, the model is FL-CC0814-2M, the focal length is 8mm, the size is phi 33.5mm multiplied by 28.2mm, the mass is 63g, and the whole experiment table is ensured to be in the field range of the high-speed camera.
The charge amplifier 22 is a YE5850 type charge amplifier of Jiangsu Union energy electronics, Inc.; the motion control card 23 selects DMC-2x00 digital motion controller produced by GALIL corporation in America, and provides standard PCI bus interface; the computer 24 has CPU model of core76650U2.2GHz and memory of 4G, and has PCI-e slot in the main board for installing motion control card 23.
The air pump 25 is an air compressor of model FB750D0-30A65, which is produced by Shanghai Jaguar compressor manufacturing Limited, and has an input power of 2.4kW, a rotation speed of 1380rpm and a rated volume flow of 204L/min; the pneumatic triple piece 26 is assembled by an air filter (model number is AF30-03), a pressure reducing valve (model number is AR25-03) and an oil mist separator (model number is AFM30-03), is provided with one pressure gauge (model number is G36-10-01), and is produced by a Japanese SMC pneumatic company; the two-position three-way valve 28 is a three-way pneumatic control valve with the model of VPA342-01A-F and is produced by the Japanese SMC pneumatic company; one three-way pipe joint 29 and two four-way pipe joints 30 in the pneumatic circuit are all assembled by KB series pipe components produced by the Japanese SMC pneumatic company, namely, the pneumatic circuit is assembled by selecting 1 KBP plug, 1 KBH internal joint and 3 KBV elbow components; the switching valve driving circuit 27 can be referred to a chinese patent No. 200810198032.1 entitled "a position and speed servo control device for controlling a plunger type double-rod pneumatic/hydraulic cylinder and pneumatic/hydraulic linkage", and the switching valve driving circuit 27 is described in this document.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited by the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (8)
1. A motion detection device of a flexible joint mechanical arm is characterized by comprising a mechanical arm body part and a detection control part;
the robot arm comprises a robot arm body part and a robot arm body part, wherein the robot arm body part comprises three sections of arm rods and a tail end effector, the three sections of arm rods are respectively an upper arm, a forearm and a wrist, one end of the upper arm is connected with a shoulder joint rotary table through a shoulder joint, the shoulder joint rotary table is fixed on an experiment table, the other end of the upper arm is connected with one end of the forearm through an elbow joint, the other end of the forearm is connected with one end of the wrist through a wrist joint, the other end of the wrist is provided with the tail end effector through a rotary joint, the elbow joint and the wrist joint are fixed on the experiment table through a joint support frame, the joint support frame is provided with an air floating device, and the;
the detection control part comprises a high-speed camera, an acceleration sensor, a charge amplifier, a visual marker, a motion control card and a computer, wherein the computer is connected with the motion control card, the charge amplifier is connected with the motion control card, the acceleration sensor is arranged in the middle of an arm rod, the acceleration sensor detects a vibration signal of the arm rod, inputs the vibration signal into the charge amplifier and inputs the vibration signal into the computer through the motion control card, the high-speed camera is arranged above the experiment table, the visual marker is arranged at the top ends of a shoulder joint, a wrist joint and an elbow joint and is in the visual field range of the high-speed camera, and the high-speed camera shoots an image containing the visual marker and inputs the image into the computer;
the detection control part also comprises a servo motor driver and a direct drive rotating motor driver, the computer obtains control signals according to signals detected by the high-speed camera and the acceleration sensor, and the control signals are respectively output to the direct drive rotating motor driver, the servo motor driver and the pneumatic circuit to drive the tail end effector, the arm rod and the joint support frame to move, so that the mechanical arm is further controlled to reach a target position.
2. The device for detecting the motion of a flexible joint mechanical arm according to claim 1, wherein the shoulder joint, the elbow joint and the wrist joint have the same structure and are all composed of a direct current servo motor, a harmonic reducer and a connecting flange.
3. The apparatus as claimed in claim 1, wherein the air-floating means is composed of three air-floating pads.
4. The device for detecting the movement of a flexible joint mechanical arm according to claim 1, wherein the high-speed camera is mounted above a midline in the length direction of the laboratory table through a camera support and is used for detecting and identifying the position information of three joints of the arm.
5. The device as claimed in claim 1, wherein the pneumatic circuit comprises an air pump, a pneumatic triplet, a two-position three-way valve, a three-way pipe joint, a four-way pipe joint, and a switching valve driving circuit connected to the two-position three-way valve, and the switching valve driving circuit is connected to the motion control card.
6. The motion detection apparatus of a flexible joint robot arm of claim 1, wherein the revolute joint coupled to the end effector comprises a direct drive rotary motor coupled to a direct drive rotary motor driver.
7. The motion detection apparatus of a flexible joint robot arm as claimed in claim 1, wherein the end effector is a four finger gripper.
8. The device of claim 1, wherein the joint support comprises an elbow support and a wrist support, and the elbow support and the wrist support have different heights.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920796546.0U CN210081785U (en) | 2019-05-29 | 2019-05-29 | Motion detection device of flexible joint mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920796546.0U CN210081785U (en) | 2019-05-29 | 2019-05-29 | Motion detection device of flexible joint mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210081785U true CN210081785U (en) | 2020-02-18 |
Family
ID=69480890
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920796546.0U Expired - Fee Related CN210081785U (en) | 2019-05-29 | 2019-05-29 | Motion detection device of flexible joint mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210081785U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110065094A (en) * | 2019-05-29 | 2019-07-30 | 华南理工大学 | A kind of motion detection apparatus and method of flexible joint mechanical arm |
| CN114800608A (en) * | 2022-04-11 | 2022-07-29 | 杭州程天科技发展有限公司 | Robot fault detection method, device and storage medium |
-
2019
- 2019-05-29 CN CN201920796546.0U patent/CN210081785U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110065094A (en) * | 2019-05-29 | 2019-07-30 | 华南理工大学 | A kind of motion detection apparatus and method of flexible joint mechanical arm |
| CN110065094B (en) * | 2019-05-29 | 2023-09-26 | 华南理工大学 | Motion detection device and method for flexible joint mechanical arm |
| CN114800608A (en) * | 2022-04-11 | 2022-07-29 | 杭州程天科技发展有限公司 | Robot fault detection method, device and storage medium |
| CN114800608B (en) * | 2022-04-11 | 2023-09-15 | 杭州程天科技发展有限公司 | Robot fault detection method, device and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110065094B (en) | Motion detection device and method for flexible joint mechanical arm | |
| CN107321969B (en) | Omnidirectional wheel type movable heavy-load casting robot | |
| CN210081785U (en) | Motion detection device of flexible joint mechanical arm | |
| CN107421632B (en) | Double-flexible cantilever vibration measurement and control device and method based on laser binocular vision | |
| CN107449578A (en) | Vibrations of A Flexible Robot Arm measuring and controlling and method based on stereoscopic vision | |
| CN107398926B (en) | Flexible arm vibration measurement device and method based on terminal visual detection | |
| CN109895099B (en) | Flying mechanical arm visual servo grabbing method based on natural features | |
| CN107571246B (en) | Part assembling system and method based on double-arm robot | |
| CN110509067B (en) | Large-scale complicated component normal position processing multi-robot system equips | |
| CN102039592B (en) | Multi-body magnetic adsorption type adaptive wall climbing robot | |
| CN108827264B (en) | Mobile workbench and its mechanical arm optics target positioning device and localization method | |
| JP2001511237A (en) | Positioning system | |
| CN102049638A (en) | Circular seam welding robot device | |
| CN106737688B (en) | Multi-sensor-based automatic assembly system and method for header tube seats by robot | |
| CN102768006B (en) | Method for automatically measuring and adjusting large-curvature curve part in normal direction | |
| CN110000760B (en) | Series-parallel movable self-balancing heavy-load casting robot | |
| CN110936369B (en) | Large-scale workpiece pose accurate measurement and grabbing method based on binocular vision and mechanical arm | |
| CN105066984A (en) | Vision positioning method and system | |
| CN106965417B (en) | System and method for intelligent electronic product line inserting 3D printing | |
| CN106346486A (en) | Six-axis cooperated robot multi-loop control system and control method thereof | |
| CN101804470A (en) | Automatic hole making system and method for wing body butt joint | |
| CN106426090B (en) | The planar three freedom parallel robot control device and method of rodless cylinder driving | |
| CN201744691U (en) | Automatic hole making system for butt joint of wing bodies | |
| CN207036382U (en) | Vibrations of A Flexible Robot Arm measuring and controlling based on stereoscopic vision | |
| CN110568866A (en) | Three-dimensional curved surface vision guiding alignment system and alignment method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200218 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |