Aging detection method and device and computer readable storage medium

Abstract

The invention provides an aging detection method and device and a computer readable storage medium, and the method comprises the steps: sending an action instruction to a to-be-detected dexterous hand, so as to enable the to-be-detected dexterous hand to execute an action corresponding to the action instruction; periodically acquiring corresponding working state information when the to-be-detected dexterous hand executes the action, wherein the working state information comprises at least one of pose information of the to-be-detected dexterous hand, working temperature information of the to-be-detected dexterous hand and driving state information of a driving mechanism of the to-be-detected dexterous hand; and determining the offset of the working state information relative to a preset working state, and judging the aging state of the to-be-detected dexterous hand according to the offset. The multi-dimensional state information of the mechanical structure, the driving system and the operation state of the dexterous hand can be covered, various hidden aging problems of the joint can be accurately captured, and early discovery and early warning of the aging state are achieved.

Description

Technical Field

[0001] This application relates to the field of aging testing technology, and in particular to an aging testing method, testing device, and computer-readable storage medium. Background Technology Against the backdrop of rapid development in the fields of industrial automation and service robots, robot dexterous hands, as core execution components, have been widely used in precision assembly, medical assistance, and other scenarios, becoming a key support for promoting the intelligent upgrading of related fields. However, robot dexterous hands inevitably experience aging issues during long-term operation, and currently lack efficient detection solutions for this problem. This technological shortcoming has become a core bottleneck restricting its further promotion and application, seriously affecting the continuity of production operations and the stability of service quality in related industries.

[0002] Current mainstream methods for detecting the aging of robot dexterous hands heavily rely on manual visual inspection or simple performance tests. These methods have significant limitations, failing to achieve comprehensive coverage and accurate monitoring of the aging process across the entire chain of movement, actuation, and perception. During long-term operation, dexterous hands are prone to various hidden problems, such as increased joint gaps down to the millimeter level, slight torque attenuation in motors, and sensor signal drift. These problems are subtle and difficult to detect manually, causing detection to lag behind the aging process. In practice, these problems are often only discovered when the dexterous hand exhibits obvious malfunctions such as grasping failure or motion stagnation. By this time, such malfunctions have already caused direct losses such as production line downtime and material damage, posing a serious threat to the continuity of production operations. If testing is conducted by disassembling core components, a single test can take 2-4 hours, resulting in low efficiency and the risk of damaging the delicate structure, leading to secondary performance degradation. Summary of the Invention

[0003] This application discloses an aging detection method, detection device, and computer-readable storage medium, which can cover multi-dimensional status information of dexterous hand mechanical structure, drive system, and operating status, and can accurately capture various hidden aging problems of joints, enabling early detection and early warning of aging status.

[0004] To achieve the above objectives, this application discloses an aging detection method, comprising: Send an action command to the dexterous hand to be detected, so that the dexterous hand to be detected performs the action corresponding to the action command; The working state information of the dexterous hand under test when performing the action is acquired periodically. The working state information includes at least one of the pose information of the dexterous hand under test, the working temperature information of the dexterous hand under test, and the driving state information of the driving mechanism of the dexterous hand under test. The offset of the working state information relative to the preset working state is determined, and the aging state of the dexterous hand to be detected is judged based on the offset.

[0005] Optionally, the step of periodically acquiring the working state information corresponding to the dexterous hand being detected when performing the action specifically includes: The pose information of the dexterous hand to be detected is determined periodically by at least position sensors disposed within the joints of the dexterous hand to be detected, the pose information including at least one of displacement and angle of the dexterous hand to be detected; and / or The working temperature information of the dexterity hand under test is periodically determined by temperature sensors installed in the joints of the dexterity hand under test; and / or The drive state information of the drive mechanism is periodically determined by a torque sensor installed on the drive mechanism of the dexterous hand to be detected.

[0006] Optionally, the step of periodically determining the pose information of the dexterous hand to be detected by using a joint position sensor disposed within the dexterous hand to be detected specifically includes: The position information detected by the position sensor is determined at each first preset time interval, and the pose information of the dexterous hand to be detected is determined based on the position information. The step of periodically determining the working temperature information of the dexterous hand under test by using a temperature sensor installed in the joint of the dexterous hand under test specifically includes: The temperature information detected by the temperature sensor is determined at every second preset time interval, and the working temperature information of the dexterous hand to be detected is determined based on the temperature information. The step of periodically determining the drive state information of the drive mechanism by using a torque sensor installed on the drive mechanism of the dexterous hand to be detected specifically includes: The torque information detected by the torque sensor is determined at every third preset time interval, and the driving state information of the driving mechanism is determined based on the torque information and the current magnitude of the driving mechanism.

[0007] Optionally, after the step of periodically determining the working temperature information of the dexterous hand to be tested using temperature sensors disposed in the joints of the dexterous hand to be tested, the method further includes: Determine the highest temperature among the operating temperatures of the dexterous hand to be tested; If the maximum temperature exceeds the preset operating temperature limit, then the sending of motion commands to the dexterous hand to be tested will be suspended.

[0008] Optionally, determining the offset of the working state information relative to a preset working state, and judging the aging state of the dexterous hand to be detected based on the offset, specifically includes: At least one of the following is determined: a first offset of the pose information relative to a preset pose, a second offset of the operating temperature information relative to a preset temperature, and a third offset of the drive state information relative to a preset drive state. The aging state of the dexterous hand to be detected is determined based on the offset determined from the first offset, the second offset, and the third offset.

[0009] Optionally, determining the aging state of the dexterous hand to be detected based on the offset determined from the first offset, the second offset, and the third offset specifically includes: If all determined offsets are less than or equal to the corresponding preset thresholds, it is determined that the dexterous hand to be detected is not aged. If at least one of the determined offsets is greater than the corresponding preset threshold, it is determined that the dexterous hand to be detected is aging.

[0010] Optionally, the action commands of the dexterous hand to be detected include at least grasping, rotating, extending, and releasing; The periodic acquisition of the working state information of the dexterous hand under test when performing the action specifically includes: The working status information of the dexterous hand under test is periodically acquired as it sequentially performs grasping, rotating, extending, and releasing actions.

[0011] Optionally, the pose information further includes the working vibration information of the dexterous hand to be detected, and the step of periodically determining the pose information of the dexterous hand to be detected at least by position sensors of joints disposed within the dexterous hand to be detected further includes: The operational vibration information is determined by vibration sensors installed in the joints of the dexterous hand being tested.

[0012] Optionally, a high-speed camera is provided inside the dexterous hand to be detected, the high-speed camera being used to capture the movement trajectory of the dexterous hand to be detected; and / or, A miniature endoscope is installed on the joint of the dexterous hand to be tested. The miniature endoscope is used to examine the state of the lubricating fluid inside the joint.

[0013] This application also discloses a testing device for implementing the aging testing method described in any of the above claims; the testing device includes: A fixing unit, wherein the fixing unit is used to fix the dexterous hand to be detected; The sensor unit is used to detect and collect the working status information of the dexterous hand to be detected; The data processing unit is used to establish a standard motion database and compare and analyze measured data with standard data. A control unit is used to control the dexterous hand to perform preset cyclic actions.

[0014] This application also discloses a computer-readable storage medium storing a computer program that, when executed by a processor, implements the aging detection method described in any of the above claims.

[0015] Compared with the prior art, the beneficial effects of this application are as follows: In this application, motion commands are sent to the dexterous hand under test, causing it to execute actions along a uniform motion trajectory, providing consistent benchmark conditions for subsequent status information acquisition. During the dexterous hand's actions, at least one of the following is periodically acquired: pose information, operating temperature information, and drive status information. The acquisition period can be flexibly set according to the dexterous hand's motion frequency and aging characteristics to ensure the capture of dynamic status data during movement. The acquired real-time operating status information is compared with preset operating status benchmark data, and the offset between the two is calculated. Based on the magnitude and trend of the offset, the degree of aging of the dexterous hand is determined. Pose information directly reflects the mechanical transmission performance of the dexterous hand and can determine the aging problems of the mechanical structure of the dexterous hand under test; operating temperature information reflects the operating load of the components of the dexterous hand under test, and abnormal temperature increases usually correspond to latent aging problems such as lubrication failure and increased component friction; drive status information can determine the performance degradation of drive components and reflect the aging problems of the power system.

[0016] This application covers multi-dimensional status information of the dexterous hand's mechanical structure, drive system, and operational status, accurately capturing various hidden aging problems in the joints and enabling early detection and warning of aging conditions. By using preset working state benchmark data as a reference, the degree of aging is quantified by offset, avoiding the subjective errors of manual inspection, making the aging judgment results more objective and consistent, and improving the reliability of the inspection data. Moreover, based on the data collected from the dexterous hand's in-service operational status, there is no need to disassemble core components, avoiding damage to the precision transmission structure and causing secondary performance degradation, thus extending the dexterous hand's service life. In addition, the issuance of action commands, the collection of status information, and the analysis of offset can all be completed through an automated system, without any manual intervention, reducing the inspection time to a few minutes, and significantly improving inspection efficiency. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is one of the flowcharts of the aging detection method provided in the embodiments of this application; Figure 2 This is the second flowchart of the aging detection method provided in the embodiments of this application; Figure 3 This is the third flowchart of the aging detection method provided in the embodiments of this application; Figure 4 This is the fourth flowchart of the aging detection method provided in the embodiments of this application; Figure 5 This is the fifth flowchart of the aging detection method provided in the embodiments of this application; Figure 6 This is the sixth flowchart of the aging detection method provided in the embodiments of this application; Figure 7 This is the seventh flowchart of the aging detection method provided in the embodiments of this application; Figure 8 This is the eighth flowchart of the aging detection method provided in the embodiments of this application; Figure 9 This is a simplified diagram of the detection device provided in the embodiments of this application. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0021] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0022] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0023] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, components, or parts (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, components, or parts. Unless otherwise stated, "a plurality of" means two or more.

[0024] As mentioned in the background section, against the backdrop of rapid development in the fields of industrial automation and service robots, robot dexterous hands, as core execution components, have been widely used in precision assembly, medical assistance, and other scenarios, becoming a key support for promoting the intelligent upgrading of related fields. However, robot dexterous hands inevitably experience aging issues during long-term operation. Currently, there is a lack of efficient detection solutions for this problem. This technological shortcoming has become a core bottleneck restricting its further promotion and application, seriously affecting the continuity of production operations and the stability of service quality in related industries.

[0025] Current mainstream methods for detecting the aging of robot dexterous hands heavily rely on manual visual inspection or simple performance tests. These methods have significant limitations, failing to achieve comprehensive coverage and accurate monitoring of the aging process across the entire chain of movement, actuation, and perception. During long-term operation, dexterous hands are prone to various hidden problems, such as increased joint gaps down to the millimeter level, slight torque attenuation in motors, and sensor signal drift. These problems are subtle and difficult to detect manually, causing detection to lag behind the aging process. In practice, these problems are often only discovered when the dexterous hand exhibits obvious malfunctions such as grasping failure or motion stagnation. By this time, such malfunctions have already caused direct losses such as production line downtime and material damage, posing a serious threat to the continuity of production operations. If testing is conducted by disassembling core components, a single test can take 2-4 hours, resulting in low efficiency and the risk of damaging the delicate structure, leading to secondary performance degradation.

[0026] To address the aforementioned issues, this embodiment provides an aging detection method, detection device, and computer-readable storage medium that can cover multi-dimensional status information of the dexterous hand's mechanical structure, drive system, and operating status. It can accurately capture various latent aging problems of joints, enabling early detection and early warning of aging conditions.

[0027] The following will describe specific embodiments and appendices. Figure 1 To be continued Figure 9 The technical solution of this application will be further explained.

[0028] This application provides a detection method for detecting the aging state of a robot's dexterity hand, such as... Figure 1 As shown, the aging test methods include: S1: Send motion commands to the dexterous hand to be detected, so that the dexterous hand to be detected can perform the motion commands corresponding to the motion commands; S2: Periodically acquire the working status information of the dexterous hand under test when performing actions. The working status information includes at least one of the pose information of the dexterous hand under test, the working temperature information of the dexterous hand under test, and the driving status information of the driving mechanism of the dexterous hand under test. S3: Determine the offset of the working status information relative to the preset working status, and judge the aging status of the dexterous hand to be detected based on the offset.

[0029] In this application, to conduct standardized testing on the dexterous hand under test, it is necessary to first send motion commands to the dexterous hand, causing it to perform actions along a uniform motion trajectory, thus providing consistent benchmark conditions for subsequent status information acquisition. Motion commands may include grasping, rotating, extending, and releasing. During the dexterous hand's execution of actions, at least one of the following is periodically acquired: pose information, operating temperature information, and drive status information. The acquisition period can be flexibly set according to the dexterous hand's motion frequency and aging characteristics to ensure the capture of dynamic status data during movement. The acquired real-time operating status information is compared with preset operating status benchmark data, and the offset between the two is calculated. Finally, the degree of aging of the dexterous hand can be determined based on the magnitude and trend of the offset.

[0030] Among them, the pose information directly reflects the mechanical transmission performance of the dexterous hand and can determine the aging problem of the mechanical structure of the dexterous hand under test; the working temperature information can reflect the operating load of the components of the dexterous hand under test, and abnormal temperature rise usually corresponds to hidden aging problems such as lubrication failure and increased component friction; the drive status information can determine the performance degradation of the drive components and reflect the aging problem of the power system.

[0031] The aging detection method provided in this application covers multi-dimensional status information of the dexterous hand's mechanical structure, drive system, and operating status. It can accurately capture various hidden aging problems in the joints, enabling early detection and early warning of aging conditions. By using preset working status benchmark data as a reference, the degree of aging is quantified by offset, avoiding the subjective errors of manual detection, making the aging judgment results more objective and consistent, and improving the reliability of the detection data. Moreover, based on the data collected from the dexterous hand's in-service operating status, there is no need to disassemble core components, avoiding damage to the precision transmission structure and causing secondary performance degradation, thus extending the service life of the dexterous hand. In addition, the issuance of action commands, status information collection, and offset analysis can all be completed through an automated system, without human intervention throughout the process. The detection time can be shortened to a few minutes, significantly improving detection efficiency.

[0032] In some embodiments, the step of periodically acquiring the working state information corresponding to the dexterity hand being detected when performing an action specifically includes: periodically determining the pose information of the dexterity hand being detected by at least a joint position sensor disposed in the dexterity hand being detected, wherein the pose information includes at least one of the displacement and angle of the dexterity hand being detected.

[0033] In some embodiments, the step of periodically acquiring the working state information corresponding to the action performed by the dexterous hand to be detected specifically includes: periodically determining the working temperature information of the dexterous hand to be detected by using temperature sensors disposed in the joints of the dexterous hand to be detected.

[0034] In some embodiments, the step of periodically acquiring the working state information corresponding to the action performed by the dexterous hand to be detected specifically includes: periodically determining the drive state information of the drive mechanism by using a torque sensor disposed on the drive mechanism of the dexterous hand to be detected.

[0035] The drive status information may include drive information such as motor torque, current, and speed.

[0036] In this way, posture information is directly acquired by joint position sensors, and displacement and angle data directly reflect the actual motion state of the joint, avoiding errors caused by external vision detection systems being susceptible to lighting and occlusion. Temperature information is acquired by joint temperature sensors, which can accurately capture local temperature changes caused by joint friction and motor operation, reflecting the true load state of the component better than ambient temperature detection. Drive status information is acquired by drive mechanism torque sensors, directly obtaining motor output torque data, which is directly related to the performance degradation of the drive system. All three types of data are in-situ data of component operation, with a stronger correlation to aging status, significantly improving the accuracy of aging assessment.

[0037] Moreover, the sensors are all located in the target monitoring parts inside the dexterous hand, with low data acquisition latency, and can provide real-time feedback on state changes during the execution of movements. For example, in joint flexion and extension movements, they can periodically capture instantaneous fluctuations in angle deviation, slight decreases in torque, and gradient increases in temperature, effectively identifying latent aging signals that are difficult to detect using traditional detection methods.

[0038] Furthermore, the acquisition paths for the three types of information—pose, temperature, and drive status—are independently selectable and can be flexibly combined according to actual testing needs. For mechanical structure aging, only pose information can be acquired, and the result can be directly determined by the displacement and angle offset. For drive system aging, only drive status information can be acquired, and the result can be analyzed by torque change trend analysis. For composite aging, all three types of information can be acquired simultaneously to achieve multi-dimensional cross-validation and avoid misjudgment based on a single data dimension.

[0039] The position sensor may include a miniature absolute encoder or a flexible bending sensor installed on each joint.

[0040] For example, such as Figure 2 As shown, the aging test method of this application includes the following steps: S11: Send an action command to the dexterous hand to be detected, so that the dexterous hand to be detected can perform the action corresponding to the action command; S12: Periodically acquire the working state information corresponding to the action performed by the dexterous hand to be detected. The working state information includes the pose information of the dexterous hand to be detected, which is periodically determined by position sensors of the joints set in the dexterous hand to be detected. The pose information includes at least one of the displacement and angle of the dexterous hand to be detected. S13: Determine the offset of the working status information relative to the preset working status, and judge the aging status of the dexterous hand to be detected based on the offset.

[0041] For example, such as Figure 3 As shown, the aging test method of this application includes the following steps: S21: Send an action command to the dexterous hand to be detected, so that the dexterous hand to be detected can perform the action corresponding to the action command; S22: Periodically acquire the working status information of the dexterous hand under test when performing actions. The working status information includes the working temperature information of the dexterous hand under test, which is periodically determined by temperature sensors installed in the joints of the dexterous hand under test. S23: Determine the offset of the working status information relative to the preset working status, and judge the aging status of the dexterous hand to be detected based on the offset.

[0042] For example, such as Figure 4 As shown, the aging test method of this application includes the following steps: S31: Send an action command to the dexterous hand to be detected, so that the dexterous hand to be detected can perform the action corresponding to the action command; S32: Periodically acquire the working status information of the dexterous hand under test when performing actions. The working status information includes the driving status information of the driving mechanism periodically determined by the torque sensor set on the driving mechanism of the dexterous hand under test. S33: Determine the offset of the working status information relative to the preset working status, and judge the aging status of the dexterous hand to be detected based on the offset.

[0043] In some embodiments, the step of periodically determining the pose information of the dexterous hand to be detected by means of a joint position sensor disposed in the dexterous hand to be detected specifically includes: determining the position information detected by the position sensor at intervals of a first preset time, and determining the pose information of the dexterous hand to be detected based on the position information.

[0044] In some embodiments, the step of periodically determining the working temperature information of the dexterous hand to be tested by means of a temperature sensor disposed in a joint within the dexterous hand to be tested specifically includes: determining the temperature information detected by the temperature sensor at intervals of a second preset time, and determining the working temperature information of the dexterous hand to be tested based on the temperature information.

[0045] In some embodiments, the driving state information of the driving mechanism is periodically determined by a torque sensor disposed on the driving mechanism of the dexterous hand to be detected. Specifically, this includes: determining the torque information detected by the torque sensor at third preset time intervals, and determining the driving state information of the driving mechanism based on the torque information and the current magnitude of the driving mechanism.

[0046] Specifically, pose information is affected by joint mechanical transmission clearance and link wear, and its changes are instantaneous. A relatively short first preset duration is needed to capture subtle pose deviations during motion execution. Temperature information changes with lag, so high-frequency acquisition is unnecessary. A moderate second preset duration is sufficient to accurately reflect the component's thermal load status, avoiding redundant data. Drive status information is directly related to motor load, with a change rate between pose and temperature. Furthermore, torque and current are strongly coupled. A third preset duration balances data timeliness and acquisition energy consumption. The differentiated cycle design reduces data redundancy and lowers the computational load of the detection system while ensuring that key aging signals are not missed.

[0047] This approach eliminates the limitations of relying on single-parameter judgments to assess the aging state of drive mechanisms. For example, relying solely on torque sensor data is susceptible to external interference such as power supply voltage fluctuations and load changes, leading to misjudgments. However, the fusion of torque information and current magnitude creates a more reliable drive condition assessment model. When motor torque declines, the current abnormally increases to maintain the same load. Similarly, when reducer transmission efficiency decreases, torque output decreases while current rises due to increased mechanical resistance. This dual-parameter collaborative analysis effectively eliminates external interference and accurately pinpoints the root cause of drive system aging.

[0048] Moreover, the periodic data collection enables comprehensive monitoring of the entire action process. The periodic collection of three types of information covers the complete cycle of the dexterous hand's action, capturing state changes at different stages such as action initiation, steady-state operation, and action cessation. This avoids the randomness of manual single-point sampling and ensures that the aging state assessment is based on full-process data, resulting in more comprehensive results.

[0049] For example, such as Figure 5 As shown, the aging test method of this application includes the following steps: S41: Send an action command to the dexterous hand to be detected, so that the dexterous hand to be detected can perform the action corresponding to the action command; S42: Periodically acquire the working state information corresponding to the dexterous hand to be detected when performing the action. The working state information includes the position information of the dexterous hand to be detected periodically determined by at least the position sensor of the joint set in the dexterous hand to be detected. The position information includes the position information detected by the position sensor at each first preset time interval, and the position information of the dexterous hand to be detected is determined according to the position information. S43: Determine the offset of the working status information relative to the preset working status, and judge the aging status of the dexterous hand to be detected based on the offset.

[0050] For example, such as Figure 6 As shown, the aging test method of this application includes the following steps: S51: Send an action command to the dexterous hand to be detected, so that the dexterous hand to be detected can perform the action corresponding to the action command; S52: Periodically acquire the working status information of the dexterous hand to be tested when performing actions. The working status information includes the working temperature information of the dexterous hand to be tested, which is periodically determined by a temperature sensor set in the joint of the dexterous hand to be tested. The working temperature information includes the temperature information detected by the temperature sensor at every second preset time interval, and the working temperature information of the dexterous hand to be tested is determined based on the temperature information. S53: Determine the offset of the working status information relative to the preset working status, and judge the aging status of the dexterous hand to be detected based on the offset.

[0051] For example, such as Figure 7 As shown, the aging test method of this application includes the following steps: S61: Send an action command to the dexterous hand to be detected, so that the dexterous hand to be detected can perform the action corresponding to the action command; S62: Periodically acquire the working status information corresponding to the dexterous hand under test when performing actions. The working status information includes the driving status information of the driving mechanism periodically determined by the torque sensor set on the driving mechanism of the dexterous hand under test. The driving status information includes the torque information detected by the torque sensor every third preset time interval, and the driving status information of the driving mechanism is determined according to the torque information and the current of the driving mechanism. S63: Determine the offset of the working status information relative to the preset working status, and judge the aging status of the dexterous hand to be detected based on the offset.

[0052] In some embodiments, after the step of periodically determining the working temperature information of the dexterous hand to be detected by a temperature sensor disposed in a joint within the dexterous hand to be detected, the method further includes: Determine the highest temperature among the operating temperatures of the dexterous hand to be tested; If the highest temperature exceeds the preset operating temperature limit, the sending of motion commands to the dexterous hand under test will be suspended.

[0053] Prolonged high-frequency operation or lubrication failure due to aging can lead to increased friction and abnormal temperature rise. If the temperature exceeds the threshold, it may cause irreversible damage. By monitoring and extracting the highest operating temperature in real time and comparing it with the preset upper temperature limit, the operation command can be stopped in time before the temperature reaches the dangerous threshold, cutting off the overheat source at the source, avoiding damage to components due to high temperature, and significantly extending the service life of the dexterous hand.

[0054] In this way, temperature monitoring and motion control are linked, and the entire process of temperature rise monitoring, threshold determination, and command pause can be completed automatically without human intervention. The response speed is faster, which can effectively avoid the overheating risk caused by the lag of manual operation. When the temperature drops back to a safe range, the motion command can be restarted to continue detection, thus ensuring both the integrity and safety of the detection.

[0055] In some embodiments, determining the offset of the working state information relative to a preset working state, and judging the aging state of the dexterous hand to be detected based on the offset, specifically includes: At least one of the following is determined: a first offset of pose information relative to a preset pose, a second offset of operating temperature information relative to a preset temperature, and a third offset of drive state information relative to a preset drive state. The aging state of the dexterous hand to be tested is determined based on the offset determined in the first offset, second offset, and third offset.

[0056] The first offset directly corresponds to the aging of the mechanical structure of the dexterous hand, such as increased joint clearance, wear of connecting rods, and decreased meshing accuracy of transmission gears. These issues can lead to excessive displacement and angle deviations between the actual pose and the preset pose. The degree of aging of the mechanical structure can be quantified by the magnitude of the first offset.

[0057] The second offset corresponds to abnormal aging of the dexterous hand under thermal load, such as joint lubrication failure, motor bearing wear, and blockage of heat dissipation channels. These problems can cause the operating temperature to be higher than the preset temperature. The severity of component friction wear can be judged by the fluctuation of the second offset.

[0058] The third offset corresponds to the aging of the dexterous hand's power system, such as problems like motor torque decay, drive circuit performance degradation, and reduced reducer transmission efficiency. These issues can cause the torque and current coupling relationship to deviate from the preset benchmark. The third offset can be used to assess the decay status of the power system.

[0059] If only the first offset exceeds the standard, while the second and third offsets are normal, it can be determined that it is simply mechanical structure aging. If the third offset exceeds the standard and the second offset increases at the same time, it can be determined that the load caused by the aging of the drive system increases, which in turn leads to the increase in component temperature. This integrated judgment mode can accurately identify complex aging problems and greatly improve the accuracy of aging condition assessment, avoiding over-repair or missed inspection due to misjudgment of a single parameter.

[0060] In some embodiments, determining the aging state of the dexterous hand to be detected based on the offset determined among the first offset, second offset, and third offset specifically includes: If all determined offsets are less than or equal to the corresponding preset thresholds, it is determined that the dexterous hand to be tested is not aged. If at least one of the determined offsets is greater than the corresponding preset threshold, the dexterity hand to be detected is judged to be aging.

[0061] In this way, the collected first, second, and third offsets are compared with their corresponding preset thresholds to output the aging judgment result. This standardized rule reduces the professional requirements for inspection personnel, allowing even non-technical personnel to quickly master the judgment process. At the same time, it facilitates the integration of the judgment logic into the automated inspection system, enabling fully unmanned operation.

[0062] This type of test result output is clear and avoids ambiguous judgments. The judgment results are divided into only two categories: non-aged and aged, and there is no ambiguous intermediate state. This avoids the ambiguous judgments of traditional manual inspection, such as suspected aging or possible failure. For batch testing scenarios on the production line, the clear judgment results can directly guide subsequent sorting and maintenance actions. Non-aged dexterous hands can be reused directly, and aged dexterous hands can be sent for repair, which greatly improves the efficiency of the connection between testing and operation and maintenance.

[0063] If only pose information is collected, it is only necessary to determine whether the first offset exceeds the standard. If pose, temperature, and drive status information are collected simultaneously, aging can be determined as long as the offset of any one of them exceeds the standard. This flexible determination mode adapts to the needs of different detection scenarios, enabling both end-to-end detection and specialized component detection.

[0064] For example, such as Figure 8 As shown, the aging test method of this application includes the following steps: S71: Send an action command to the dexterous hand to be detected, so that the dexterous hand to be detected can perform the action corresponding to the action command; S72: Periodically acquire the working status information corresponding to the dexterity hand under test when performing the action. The working status information includes at least one of the pose information of the dexterity hand under test, the working temperature information of the dexterity hand under test, and the drive status information of the drive mechanism of the dexterity hand under test. S73: If all determined offsets are less than or equal to the corresponding preset thresholds, it is determined that the dexterous hand to be tested is not aged. S74: If at least one of the determined offsets is greater than the corresponding preset threshold, it is determined that the dexterity hand to be detected is aging.

[0065] In some embodiments, the motion commands of the dexterous hand to be detected include at least grasping, rotating, extending, and releasing; The system periodically acquires the working status information of the dexterous hand under test when performing actions, specifically including: periodically acquiring the working status information of the dexterous hand under test when performing grasping, rotating, extending and releasing actions in sequence.

[0066] Grasping, rotating, extending, and releasing are high-frequency core movements of robotic dexterous hands in real-world scenarios such as precision assembly, material handling, and medical assistance. These movements directly correspond to key motion patterns such as flexion, extension, twisting, and linkage of the dexterous hand joints. Detection based on this sequence of movements can accurately simulate the real-world working conditions of the dexterous hand, capturing aging issues that only surface during actual operation, such as torque attenuation during grasping, joint clearance misalignment during rotation, and transmission jamming during extension. This avoids missed detections due to a disconnect between the detected movements and actual working conditions.

[0067] A dexterous hand sequentially performs a complete sequence of actions: grasping, rotating, extending, and releasing. This allows for the detection of state stability during action transitions. For example, torque fluctuations when transitioning from grasping to rotating, and positional reset deviations when transitioning from extending to releasing, are often related to the aging of transmission components and the response lag of control algorithms. These are aging dimensions that cannot be covered by single action detection.

[0068] Moreover, the fixed motion instructions provide a standardized testing benchmark for dexterity hands of different models and batches. Regardless of whether the test object is a newly manufactured dexterity hand or an aging dexterity hand that has been in service for many years, the status data is collected under the same motion sequence, ensuring that data such as posture, temperature, and drive status are comparable, which facilitates the establishment of industry-wide aging judgment standards.

[0069] In some embodiments, the pose information further includes working vibration information of the dexterous hand to be detected. The step of periodically determining the pose information of the dexterous hand to be detected by at least the position sensors of the joints disposed in the dexterous hand to be detected further includes: determining the working vibration information by the vibration sensors of the joints disposed in the dexterous hand to be detected.

[0070] The joint transmission chain of a robot's dexterous hand contains precision components such as gears, bearings, and linkages. When these components experience early wear, increased clearance, or lubrication failure, it will directly manifest as abnormal fluctuations in vibration frequency and amplitude. Moreover, such abnormalities often precede significant shifts in displacement and angle. By collecting working vibration information through vibration sensors, aging problems can be identified in advance, significantly advancing the fault warning point.

[0071] Moreover, vibration information complements displacement and angle data. When the displacement and angle deviation are within the standard, but the vibration amplitude and frequency are abnormal, it can be determined that the dexterous hand is in the early aging stage, and preventive maintenance such as lubrication and calibration should be carried out in time. When all three exceed the standard, it can be confirmed that the mechanical structure has undergone substantial wear and parts need to be replaced.

[0072] In some embodiments, a high-speed camera is provided inside the dexterous hand to be detected, and the high-speed camera is used to capture the movement trajectory of the dexterous hand to be detected.

[0073] High-speed cameras can record the complete motion trajectory of a dexterous hand performing actions such as grasping, rotating, and extending at high frequency and high resolution. Compared with the discrete displacement and angle data collected by position sensors, they can capture continuous and subtle trajectory deviation features. The motion trajectory captured by the high-speed camera can intuitively show the synchronization of the movements of each joint. If the movement of a certain joint lags behind the preset trajectory, or if trajectory misalignment occurs when multiple joints are linked, the wear, jamming, or other aging problems of the transmission components of that joint can be directly located, avoiding the complexity of inferring faults from data.

[0074] The high-speed camera can be positioned on the side of the base of each finger of the dexterous hand to be detected or on the outside of the dexterous wrist.

[0075] In some embodiments, a miniature endoscope is provided on the joint within the dexterous hand to be tested, and the miniature endoscope is used to examine the state of the lubricating fluid inside the joint.

[0076] Miniature endoscopes can directly observe the condition of lubricating fluid, predicting the risk of wear and aging from the source. The condition of the joint lubricating fluid can directly lead to increased joint wear and temperature, enabling preventive maintenance to protect against damage and prevent further deterioration of component wear.

[0077] Meanwhile, the miniature endoscope can directly observe the condition of gear meshing surfaces, bearing balls, and connecting rod connections without disassembly, clearly identifying obvious aging faults such as tooth surface wear, ball scratches, and loose connecting parts. It can directly locate faulty components and fault types, significantly shortening maintenance and troubleshooting time.

[0078] Miniature endoscopes are typically installed on the side of the rotation axis of the joint of the dexterous hand being examined or on the mating end face of adjacent phalanges.

[0079] This application also discloses a detection device 10 for implementing the above-described aging detection method, such as... Figure 9 As shown, the detection device 10 includes a fixing unit 11, a sensor unit 12, a data processing unit 13, and a control unit 14. The fixing unit 11 is used to fix the dexterous hand to be detected. The sensor unit 12 is used to detect and collect the working status information of the dexterous hand to be detected. The data processing unit 13 is used to establish a standard motion database and compare and analyze the measured data with the standard data. The control unit 14 is used to control the dexterous hand to perform preset cyclic actions.

[0080] The fixing unit 11 serves as the basic support module of the device, fixing the dexterous hand to be tested and ensuring that the dexterous hand maintains a stable posture reference when performing preset actions such as grasping, rotating, extending, and releasing, thus avoiding distortion of the test data due to positional deviation.

[0081] Sensor unit 12 is the core data acquisition module, which integrates various detection elements such as joint position sensor, temperature sensor, torque sensor, vibration sensor, high-speed camera, and miniature endoscope. It can simultaneously collect full-dimensional data such as the dexterous hand's posture information, working temperature information, driving status information, motion trajectory images, and internal joint status, providing sufficient data sources for aging assessment.

[0082] The data processing unit 13 establishes a standard motion database to store various baseline data of different types of dexterous hands in a healthy state; it compares and analyzes the measured data with the standard data, calculates the offset of various types of data, and completes the quantitative judgment of aging state by combining preset thresholds, while generating a visual test report.

[0083] The control unit 14 is responsible for issuing preset cyclic action commands to the dexterous hand to be tested, and controlling the dexterous hand to perform detection actions according to the set action sequence and frequency; at the same time, it can receive feedback signals from the data processing unit, such as automatically pausing the action command when the temperature exceeds the standard, so as to realize adaptive protection in the detection process.

[0084] Compared to the traditional decentralized detection mode of manual operation, this significantly shortens the detection time of a single dexterous hand, improves detection efficiency, and is suitable for batch sampling inspection scenarios on production lines. Data acquisition and analysis are performed simultaneously. Data collected by sensor unit 12 can be transmitted to data processing unit 13 in real time. Data processing unit 13 can perform comparative analysis during the execution of actions. Once an deviation exceeds the standard, it can immediately feed back to control unit 14, realizing real-time early warning of aging problems, avoiding the continuous execution of invalid actions, and further improving detection efficiency. A standard database supports the quantitative judgment. The standard motion database established by the data processing unit provides a unified judgment benchmark for different models of dexterous hands, avoiding the subjective error of human experience judgment. The comparative analysis of measured data and standard data adopts a quantitative algorithm, which can accurately calculate various deviations. Combined with the rule that exceeding the standard in a single dimension determines aging, it can accurately identify hidden aging problems.

[0085] This application also discloses a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the aging detection method described above.

[0086] The computer program in the storage medium solidifies the entire process of the detection method, such as issuing action commands, periodic data acquisition, offset calculation, aging judgment, and temperature protection, into standardized code logic. When the processor executes the program, it can strictly complete the detection according to the preset rules, avoiding problems such as command issuance errors, data acquisition omissions, and inconsistent judgment standards that may occur in manual operation. This ensures that the detection process and judgment results are highly consistent when the method is used at different times and by different operators.

[0087] Computer-readable storage media, such as USB flash drives, hard drives, flash memory, and optical discs, can store programs that can run on different hardware systems. Whether it's a laboratory testing terminal, a production line batch testing device, or a factory testing platform from a dexterity hand manufacturer, as long as it has a compatible processor, the testing program can be quickly deployed without needing to redevelop testing logic for different hardware, significantly reducing the implementation cost of the testing method. The program in the rapidly iterating storage media, adapted to different models of dexterity hands, can flexibly adjust key parameters such as preset thresholds, action sequences, and acquisition cycles through parameter configuration files, adapting to the testing needs of different brands and models of dexterity hands.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the image stabilization device of this application, and are not intended to limit it. Although the image stabilization device of this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. An aging detection method characterized by, The method comprises the following steps: sending an action instruction to a dexterous hand to be detected, so that the dexterous hand to be detected performs an action corresponding to the action instruction; periodically acquiring working state information of the dexterous hand to be detected when performing the action, wherein the working state information comprises at least one of pose information of the dexterous hand to be detected, working temperature information of the dexterous hand to be detected, and driving state information of a driving mechanism of the dexterous hand to be detected; determining an offset of the working state information relative to a preset working state, and judging an aging state of the dexterous hand to be detected according to the offset.

2. The method of claim 1, wherein The step of periodically acquiring the working state information of the dexterous hand to be detected when performing the action comprises the following steps: periodically determining the pose information of the dexterous hand to be detected by at least a position sensor of a joint arranged in the dexterous hand to be detected, wherein the pose information comprises at least one of a displacement and an angle of the dexterous hand to be detected; and / or periodically determining the working temperature information of the dexterous hand to be detected by a temperature sensor of the joint arranged in the dexterous hand to be detected; and / or periodically determining the driving state information of the driving mechanism by a torque sensor arranged in the driving mechanism of the dexterous hand to be detected.

3. The method of claim 2, wherein The step of periodically determining the pose information of the dexterous hand to be detected by the position sensor of the joint arranged in the dexterous hand to be detected comprises the following steps: determining position information detected by the position sensor every first preset time interval, and determining the pose information of the dexterous hand to be detected according to the position information; The step of periodically determining the working temperature information of the dexterous hand to be detected by the temperature sensor of the joint arranged in the dexterous hand to be detected comprises the following steps: determining temperature information detected by the temperature sensor every second preset time interval, and determining the working temperature information of the dexterous hand to be detected according to the temperature information; The step of periodically determining the driving state information of the driving mechanism by the torque sensor arranged in the driving mechanism of the dexterous hand to be detected comprises the following steps: determining torque information detected by the torque sensor every third preset time interval, and determining the driving state information of the driving mechanism according to the torque information and a current size of the driving mechanism.

4. The method of claim 2, wherein After the step of periodically determining the working temperature information of the dexterous hand to be detected by the temperature sensor of the joint arranged in the dexterous hand to be detected, the method further comprises the following steps: determining a highest temperature in the working temperature of the dexterous hand to be detected; if the highest temperature exceeds a preset upper limit of working temperature, suspending sending of the action instruction to the dexterous hand to be detected.

5. The method of claim 2-4, wherein the method further comprises, The step of determining the offset of the working state information relative to the preset working state, and judging the aging state of the dexterous hand to be detected according to the offset comprises the following steps: determining at least one of a first offset of the pose information relative to a preset pose, a second offset of the working temperature information relative to a preset temperature, and a third offset of the driving state information relative to a preset driving state; and / or The aging state of the dexterous hand to be detected is determined according to the determined offset among the first offset, the second offset and the third offset.

6. The method of claim 5, wherein The determination of the aging state of the dexterous hand to be detected according to the determined offset among the first offset, the second offset and the third offset specifically comprises: If the determined offset is less than or equal to the corresponding preset threshold, it is determined that the dexterous hand to be detected is not aged; If at least one of the determined offsets is greater than the corresponding preset threshold, it is determined that the dexterous hand to be detected is aged.

7. The method of claim 1-4, wherein, The action instructions of the dexterous hand to be detected at least include grasping, rotating, stretching and releasing; The periodic acquisition of the working state information of the dexterous hand to be detected when performing the action specifically comprises: Periodically acquiring the working state information of the dexterous hand to be detected when sequentially performing grasping, rotating, stretching and releasing actions.

8. The method of claim 7, wherein, The pose information further includes working vibration information of the dexterous hand to be detected, and the step of periodically determining the pose information of the dexterous hand to be detected at least through the position sensor of the joint arranged in the dexterous hand to be detected further comprises: Determining the working vibration information through the vibration sensor of the joint arranged in the dexterous hand to be detected.

9. The method of claim 1-4, wherein, The dexterous hand to be detected is provided with a high-speed camera, which is used to photograph the motion trajectory of the dexterous hand to be detected; and / or, A micro endoscope is arranged on the joint in the dexterous hand to be detected, and the micro endoscope is used to check the internal lubricating liquid state of the joint.

10. A detection device for implementing the aging detection method according to any one of claims 1-9; characterized in that, The detection device comprises: A fixing unit for fixing the dexterous hand to be detected; A sensor unit for detecting and collecting the working state information of the dexterous hand to be detected; A data processing unit for establishing a standard motion database and comparing and analyzing the measured data and the standard data; A control unit for controlling the dexterous hand to perform a preset cyclic action.

11. A computer readable storage medium characterized by, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to realize the aging detection method according to any one of claims 1-10. The computer readable storage medium stores a computer program, and the computer program is executed by the processor to realize the aging detection method according to any one of claims 1-10.

Images