Title:
ROBOT JOINT DEFORMATION SENSOR BASED ON MACHINE VISION, AND ROBOT ARM AND METHOD
Document Type and Number:
WIPO Patent Application WO/2023/137841
Kind Code:
A1
Abstract:
Disclosed in the present invention are a robot joint deformation sensor based on machine vision, and a robot arm and a method. The sensor is mounted in a robot joint, and the robot joint comprises a first mounting part and a second mounting part, which are arranged opposite each other, and a supporting part, which is connected to and supports the first mounting part and the second mounting part. The sensor comprises a camera apparatus and a marker, wherein the camera apparatus is fixed on the face of the first mounting part that faces the second mounting part; the marker is arranged on the face of the second mounting part that faces the first mounting part; and the camera apparatus is electrically connected to a controller of a robot and photographs the marker, so as to record a change in position of the marker. By means of the robot joint deformation sensor based on machine vision in the present invention, a camera apparatus and a marker are arranged in a robot joint, an image of the marker can be photographed by means of the camera apparatus, and a change in the position of the marker before and after collision is obtained by means of comparison, so as to determine deformation data of the robot joint after collision, and then determine the position after collision.
Inventors:
YU HONGYU (CN)
WANG RUOQIN (CN)
WU CHILI (CN)
WANG RUOQIN (CN)
WU CHILI (CN)
Application Number:
PCT/CN2022/079898
Publication Date:
July 27, 2023
Filing Date:
March 09, 2022
Export Citation:
Assignee:
GUANGZHOU HKUST FOK YING TUNG RES INSTITUTE (CN)
International Classes:
B25J19/02; B25J17/00; B25J18/00; G01B11/16
Foreign References:
| CN216731891U | 2022-06-14 | |||
| US5383368A | 1995-01-24 | |||
| CN113624371A | 2021-11-09 | |||
| CN210952710U | 2020-07-07 | |||
| CN110162175A | 2019-08-23 | |||
| CN103868466A | 2014-06-18 | |||
| CN112536800A | 2021-03-23 | |||
| JPH05302817A | 1993-11-16 |
Attorney, Agent or Firm:
GUANGZHOU SINO PATENT & TRADEMARK AGENT CO., LTD. (CN)
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