Movable detecting and cleaning device for airport runway

Abstract

The utility model relates to the technical field of building equipment, in particular to a movable detecting and cleaning device for an airport runway, which comprises an electric vehicle, a bucket arranged at the front end of the electric vehicle and used for collecting foreign matters on the airport runway, and a mechanical arm arranged at the top of the electric vehicle and used for picking up the foreign matters on the airport runway, the industrial camera is used for identifying foreign matters on the airport runway; a scraper assembly is further arranged in the bucket and used for driving the airport runway foreign matter into the bucket. The scraper blade assembly comprises a scraper blade and a scraper blade driving device used for driving the scraper blade to rotate and stretch out and draw back. The telescopic and rotatable scraper assembly is arranged in the bucket, so that the foreign matters on the airport runway can be brought into the bucket, and the foreign matters on the airport runway surface can be cleaned. The mechanical arm is arranged at the top of the electric vehicle and can assist the bucket in picking up the foreign matter on the airport runway. The industrial camera is matched with the control device, so that intelligent control over the electric vehicle, the bucket and the mechanical arm is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to building equipment technical field especially, a kind of mobile detection and cleaning device for airport runway. BACKGROUND

[0002] Airport runway is the area for the aircraft to take off or land in the airport, aircraft needs long distance to taxi during take-off process, foreign matter on runway is easy to affect the safe take-off of aircraft.

[0003] Foreign matter of airport runway is various, for example: nut, screw, gasket, fuse etc. aircraft and engine connecting piece, private lost articles, branch, sand, plastic products, ice debris of running area etc. These foreign matters can cause aircraft tire damage, also can be sucked into engine, cause engine time efficiency, have higher security risk.

[0004] And the way of artificial cleaning airport runway foreign matter is low in efficiency, face the cleaning task of larger area airport runway, worker's labor intensity is big, and can long time occupy airport runway, have certain dangerousness.

[0005] In view of the above problems, a mobile detection and cleaning device for airport runway is needed, which can find foreign matter on airport runway and clean it. INVENTION CONTENTS

[0006] (1) technical problem to be solved

[0007] In view of the above shortcomings and deficiencies of the prior art, the utility model provides a mobile detection and cleaning device for airport runway, which solves the technical problem of low efficiency of manual cleaning of airport runway foreign matter.

[0008] (2) technical scheme

[0009] In order to achieve the above purpose, the utility model adopts the main technical scheme including:

[0010] A mobile detection and cleaning device for airport runway includes an electric vehicle, a shovel for collecting airport runway foreign matter arranged at the front end of the electric vehicle, a mechanical arm for picking up airport runway foreign matter arranged at the top of the electric vehicle, an industrial camera for identifying airport runway foreign matter, and a control device.

[0011] The shovel is also provided with a scraper assembly, which is used to drive the airport runway foreign matter into the shovel.

[0012] The scraper assembly includes a scraper and a scraper driving device for driving the scraper to rotate and stretch.

[0013] The scraper driving device comprises a first electric push rod for driving the rotation of the scraper, and a second electric push rod for driving the extension and retraction of the scraper.

[0014] The connecting end of the first electric push rod is hinged to the upper part of the inner wall on the left and right sides of the bucket, and the extension end of the first electric push rod is hinged to the second electric push rod.

[0015] The connecting end of the second electric push rod is hinged to the lower part of the inner wall on the left and right sides of the bucket and is located below the connecting end of the first electric push rod, and the extension end of the second electric push rod is connected to the scraper.

[0016] The front end of the electric vehicle is provided with a connecting rod for connecting the bucket, the connecting rod is L-shaped, and the bucket is hinged to the front end of the electric vehicle through the connecting rod.

[0017] It also comprises a bucket driving device for controlling the rotation of the bucket, and the bucket driving device is connected to the connecting rod.

[0018] The bucket driving device comprises a third electric push rod and a fourth electric push rod.

[0019] The connecting end of the third electric push rod is hinged to the electric vehicle, the extension end of the third electric push rod is hinged to the connecting rod, and the third electric push rod drives the rotation of the bucket with the hinge point of the connecting rod and the electric vehicle as the axis.

[0020] The connecting end of the fourth electric push rod is coaxially hinged to the connecting rod with the extension end of the third electric push rod, the extension end of the fourth electric push rod is hinged to the rear side wall of the bucket, and the fourth electric push rod drives the rotation of the bucket with the hinge point of the connecting rod and the bucket as the axis.

[0021] The interior of the electric vehicle is provided with a garbage bin, and the opening of the garbage bin is arranged at the front end of the electric vehicle.

[0022] The top of the bucket is provided with a garbage docking port, and the bucket can be rotated to dock the garbage docking port with the opening of the garbage bin.

[0023] The interior of the garbage bin is further provided with a plate and a pull rod for pulling the plate.

[0024] The bottom or side of the garbage bin is provided with a chute, and the end of the plate is provided with a sliding block corresponding to the chute, and pulling the pull rod can bring the garbage in the interior of the garbage bin out.

[0025] The control device comprises an industrial computer and a computing platform, and the computing platform is connected to the industrial computer and the industrial camera through a cable.

[0026] The computing platform comprises an image storage module for storing images of foreign matters on the airport runway taken by the industrial camera, an image preprocessing module for processing the images in the image storage module, an image detection module for receiving the images processed by the image preprocessing module, and an image positioning module for receiving the image information of the foreign matters detected by the image detection module, and calculating the three-dimensional spatial coordinates of the foreign matters and transmitting the coordinate information to the industrial computer.

[0027] The industrial computer comprises an electric control system for controlling the electric vehicle, the scraper driving device, the bucket driving device, the mechanical arm and the industrial camera.

[0028] The mechanical arm comprises a servo motor for driving the mechanical arm.

[0029] The mechanical arm further comprises a position sensor for feeding back the actual position of the motor or joint and a force-torque sensor for detecting the force and torque of the end effector of the mechanical arm.

[0030] (Three) beneficial effects

[0031] The utility model discloses a movable detection and cleaning device for airport runway, including the bucket for collecting the foreign matter of airport runway set in the front end of electric vehicle, the mechanical arm for picking up the foreign matter of airport runway set in the top of electric vehicle, the industrial camera for identifying the foreign matter of airport runway and control device.

[0032] By setting the scraper assembly that can stretch out and turn in the bucket, the foreign matter of airport runway can be brought into the bucket, and the cleaning of the foreign matter on the airport runway surface is realized.

[0033] By setting the mechanical arm on the top of electric vehicle, the foreign matter of airport runway can be picked up by the bucket.

[0034] By the cooperation of industrial camera and control device, the intelligent control of electric vehicle, bucket and mechanical arm is realized. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 It is the perspective view of the movable detection and cleaning device for airport runway of the utility model;

[0036] Figure 2 It is the bottom perspective view of the movable detection and cleaning device for airport runway of the utility model;

[0037] Figure 3 It is Figure 2 The local structure enlarged view of center line frame;

[0038] Figure 4 It is the structure schematic view of garbage can in the electric vehicle of the utility model.

[0039] [Reference Signs Description]

[0040] 1: electric vehicle;

[0041] 2: shovel; 21: scraper; 22: connecting rod; 23: third electric push rod; 24: fourth electric push rod; 25: first electric push rod; 26: second electric push rod; 27: garbage docking interface;

[0042] 3: mechanical arm; 31: binocular camera;

[0043] 4: industrial camera;

[0044] 5: control device;

[0045] 6: garbage can; 61: pull rod; 62: plate. DETAILED DESCRIPTION

[0046] In order to better explain the utility model, so as to facilitate understanding, the following will be combined with the drawings, through specific embodiments, the utility model is described in detail. Wherein, the "front", "back" and so on mentioned in this paper are referred to as the orientation. Figure 1 .

[0047] The utility model provides a mobile detection and cleaning device for airport runway, including electric vehicle 1, the shovel 2 for collecting airport runway foreign matter, the mechanical arm 3 for picking up airport runway foreign matter, the industrial camera 4 for identifying airport runway foreign matter and control device 5.

[0048] The scraper assembly is provided in the shovel 2 and can be extended and rotated, the scraper assembly can bring the airport runway foreign matter into the shovel 2 when extending out of the shovel 2. The mechanical arm 3 is used to assist the scraper assembly to pick up the airport runway foreign matter in the poor position or not brought into the shovel 2 by the scraper assembly.

[0049] The control device 5 for controlling electric vehicle 1, shovel 2, mechanical arm 3 and industrial camera 4 is carried on electric vehicle 1, the airport runway foreign matter identified by industrial camera 4 is fed back to control device 5, electric vehicle 1 is controlled to move to the position of foreign matter, the scraper assembly is rotated and extended out of the shovel 2, the foreign matter is framed and driven into the shovel 2, realizes the detection and cleaning of airport runway foreign matter.

[0050] In order to better understand the above technical scheme, the exemplary embodiments of the utility model will be described in more detail below with reference to the drawings. Although the exemplary embodiments of the utility model are shown in the drawings, it should be understood that the utility model can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the utility model and to convey the complete scope of the utility model to those skilled in the art.

[0051] Referring to the drawings Figures 1-4 The utility model discloses an embodiment provides a kind of mobile detection and cleaning device for airport runway, including electric car 1, the shovel 2 for collecting airport runway foreign matter being arranged at the front end of electric car 1, the mechanical arm 3 for picking up airport runway foreign matter being arranged at the top of electric car 1, industrial camera 4 for identifying airport runway foreign matter, and control device 5.Shovel 2 is equipped with retractable and rotating scraper assembly, scraper assembly extends out of shovel 2 can bring airport runway foreign matter into shovel 2.In use, through industrial camera 4 identification airport runway foreign matter feedback to control device 5, control device 5 controls electric car 1 to move to the position of airport runway foreign matter, subsequently control device 5 controls the scraper assembly in shovel 2 to rotate upwards and extend out of shovel 2, waits for scraper assembly to extend to the outside of airport runway foreign matter, scraper assembly rotates downwards, frames airport runway foreign matter, and retracts to shovel 2 in, to bring foreign matter into shovel 2.If scraper assembly retracts into shovel 2 cannot bring foreign matter into shovel 2, i.e. same foreign matter in same position identified by industrial camera 4 cannot be cleaned, control device 5 controls mechanical arm 3 to pick up and clean foreign matter, and place into shovel 2, so that cleaning device can be suitable for more kinds of foreign matter cleaning.

[0052] Electric car 1 adopts wheel hub motor drive, i.e. each wheel is equipped with independent motor drive, can realize more accurate torque distribution and control.Electric car 1 adopts battery pack as power supply, for example lithium ion battery etc.

[0053] Shovel 2 is rotatably hinged to the front end of electric car 1 by connecting rod 22, connecting rod 22 is L-shaped, one end of connecting rod 22 is hinged to the front end of electric car 1, and the other end of connecting rod 22 is hinged to shovel 2.

[0054] The inside of shovel 2 is provided with scraper assembly, which includes scraper 21, first electric push rod 25 for driving scraper 21 to rotate, and second electric push rod 26 for driving scraper 21 to extend and retract, the connecting end of first electric push rod 25 is hinged to the upper part of the inner side wall of shovel 2, and the extension end of first electric push rod 25 is hinged to second electric push rod 26.The connecting end of second electric push rod 26 is hinged to the lower part of the inner side wall of shovel 2, i.e. the connecting end of second electric push rod 26 is below the connecting end of first electric push rod 25, and the extension end of second electric push rod 26 is fixedly connected with scraper 21.Through the extension of first electric push rod 25, second electric push rod 26 rotates around the hinged point of second electric push rod 26 and shovel 2, and through the extension of second electric push rod 26, scraper 21 extends and retracts, realizing the framing of airport runway foreign matter by scraper 21, and bringing airport runway foreign matter back to shovel 2.

[0055] The front end of the electric vehicle 1 is provided with a telescopic third electric push rod 23, the connecting end of the third electric push rod 23 is connected to the electric vehicle 1, and the telescopic end of the third electric push rod 23 is connected to the connecting rod 22. The third electric push rod 23 is extended or retracted to drive the bucket 2 to rotate about the hinge point of the connecting rod 22 and the electric vehicle 1, so as to realize the unfolding and folding of the bucket 2.

[0056] Further comprising a fourth electric push rod 24 for tilting the support of the bucket 2, the connecting end of the fourth electric push rod 24 is coaxially connected to the connecting rod 22 at the telescopic end of the third electric push rod 23, and the telescopic end of the fourth electric push rod 24 is hinged to the rear side wall of the bucket 2. By providing the fourth electric push rod 24, the bucket 2 in the rotating state can be supported, or the bucket 2 can be further rotated about the hinge point of the connecting rod 22 and the bucket 2, so as to more accurately control the rotating posture of the bucket 2.

[0057] The inside of the electric vehicle 1 is provided with a garbage can 6, the opening of the garbage can 6 is arranged at the front end of the electric vehicle 1, and the position of the opening corresponds to the position of the bucket 2. The top of the bucket 2 is provided with a garbage docking port 27, which can be docked with the opening of the garbage can 6 in the folded state of the bucket 2, so that the garbage in the bucket 2 can be poured into the garbage can 6, and the garbage in the bucket 2 can be collected conveniently. Specifically, in use, the third electric push rod 23 drives the bucket 2 to rotate upward to the folded state perpendicular to the bottom surface, then the fourth electric push rod 24 continues to drive the bucket 2 to rotate toward the opening of the garbage can 6, realizes the docking of the garbage docking port 27 and the opening of the garbage can 6, and makes the bucket 2 tilt toward the garbage can 6, so that the garbage in the bucket 2 can be poured into the garbage can 6. The inside of the opening of the garbage can 6 is provided with an inclined surface, so that the bucket 2 can slide into the inside of the garbage can along the inclined surface when pouring garbage into the garbage can 6. The third electric push rod 23 and the fourth electric push rod 24 are connected to the industrial computer, and the control of the electric push rod is realized through the industrial computer.

[0058] The inside of the garbage can 6 is further provided with a pull rod 61 and a plate 62. The door on the side of the garbage can 6 is opened, the pull rod 61 is pulled, and the pull rod 61 drives the plate 62 to take out the garbage in the inside of the garbage can 6, so that the garbage collected in the garbage can 6 can be cleaned manually subsequently. The bottom or side of the garbage can 6 is provided with a sliding groove, and the bottom or side end of the plate 62 is provided with a sliding block corresponding to the sliding groove, so that the movement direction of the plate 62 can be limited, and the plate 62 can take out the garbage in the inside of the garbage can 6.

[0059] The top of the electric vehicle 1 is provided with a mechanical arm 3, the mechanical arm 3 controls the position, speed and torque through a servo motor, the servo motor is connected to the industrial computer, and the picking up of the foreign matter on the airport runway by the mechanical arm 3 is realized through the control of the servo motor by the industrial computer.

[0060] The mechanical arm 3 comprises a position sensor and a torque sensor connected to the industrial computer, the position sensor is used to feedback the actual position of the motor or joint, and the torque sensor is used to detect the force and torque of the end effector of the mechanical arm.

[0061] The top of the mechanical arm 3 is also provided with a binocular camera 31 connected to the control device 5, which is used to assist the mechanical arm 3 to independently operate the pickup airport runway foreign matter.

[0062] The control device 5 comprises an industrial computer and a computing platform connected to the industrial computer and the industrial camera 4 through a cable, and the computing platform comprises an image storage module, an image preprocessing module, an image detection module and an image positioning module. The image storage module is used to store the images of the airport runway and foreign matter captured by the industrial camera 4, and the hardware thereof adopts storage devices of brands such as Dell and Inspur. The image preprocessing module is used to process the images in the image storage module and transmit the processed images to the image detection module, and the image preprocessing module is installed with image denoising, enhancement and other algorithms to improve the detection and positioning accuracy of foreign matter. The image detection module receives the images processed by the image preprocessing module, and is installed with a target detection algorithm based on deep learning to realize the detection of foreign matter. The image positioning module receives the foreign matter image information detected by the image detection module, calculates the three-dimensional space coordinates of the foreign matter, and transmits the coordinate information to the industrial computer.

[0063] The industrial computer comprises an electric vehicle navigation system, which is used to construct an environment map according to the image of the airport runway environment, and to plan a path according to the three-dimensional space coordinates provided by the computing platform, so as to control the electric vehicle 1 to drive to the position of the foreign matter on the airport runway. The industrial computer further comprises an electric control system for controlling the extension and retraction of the electric push rod of the bucket 2, the pickup of the mechanical arm 3, and the opening and closing of the industrial camera 4 and the binocular camera 31. The industrial camera 4 is arranged at the front, rear, left and right of the electric vehicle 1, and is connected to the computing platform and the industrial computer through a cable, and can adopt industrial cameras 4 of brands such as Konica Minolta, Daheng and Jiaheng, which are used to collect the images and depth information of the airport runway and foreign matter, and transmit the collected information to the computing platform. If the same foreign matter at the same position cannot be cleaned by the industrial camera 4, the industrial computer controls the mechanical arm 3 to pick up and clean the foreign matter and put it into the bucket 2, so that the cleaning device can be suitable for cleaning more types of foreign matter.

[0064] The control device 5 further comprises a communication module, which realizes remote control through Wi-Fi, 4G / 5G and other wireless networks, and can remotely transmit the information data of the industrial computer, the computing platform and the industrial camera 4 to a computer, and can also be remotely controlled.

[0065] The utility model provides a mobile detection and cleaning device for airport runway, including setting in electric motor car 1 front end be used for collecting airport runway foreign matter's shovel 2, set up in electric motor car 1 top be used for picking up airport runway foreign matter's mechanical arm 3, be used for identifying airport runway foreign matter's industry camera 4 and control device 5.

[0066] By setting the scraper assembly that can stretch and rotate in the shovel 2, the airport runway foreign matter can be brought into the shovel 2, and the cleaning of the airport runway foreign matter is realized.

[0067] By setting the mechanical arm 3 on the top of the electric motor car 1, the shovel 2 can assist in picking up the airport runway foreign matter.

[0068] By cooperating the industry camera 4 with the control device 5, the intelligent control of the electric motor car 1, the shovel 2 and the mechanical arm 3 is realized.

[0069] In the description of the utility model, it is understood that the terms "first", "second" are only used for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included one or more features. In the description of the utility model, the meaning of "multiple" is two or more than two, unless otherwise specifically limited.

[0070] In the utility model, unless otherwise specifically defined and limited, the terms "installation", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication between two elements or the interaction relationship between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific situation.

[0071] In the utility model, unless otherwise specifically defined and limited, the first feature is "on" or "under" the second feature, which can be directly contacted by the first and second features, or indirectly contacted by the first and second features through an intermediate medium. Moreover, the first feature is "above", "above" and "above" the second feature, which can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature is "below", "below" and "below" the second feature, which can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is lower than that of the second feature.

[0072] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. Furthermore, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0073] Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and the person skilled in the art can modify, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A mobile detection and cleaning device for an airport runway, characterized in that, The device comprises an electric vehicle (1), a shovel (2) arranged at the front end of the electric vehicle (1) for collecting foreign matters on the runway, a mechanical arm (3) arranged at the top of the electric vehicle (1) for picking up the foreign matters on the runway, an industrial camera (4) for identifying the foreign matters on the runway, and a control device (5); The shovel (2) is further provided with a scraper assembly for driving the foreign matters on the runway into the shovel (2); The scraper assembly comprises a scraper (21) and a scraper driving device for driving the scraper (21) to rotate and stretch.

2. The mobile detection and cleaning device for the runway of an airport according to claim 1, wherein The scraper driving device comprises a first electric push rod (25) for driving the scraper (21) to rotate and a second electric push rod (26) for driving the scraper (21) to stretch; The connecting end of the first electric push rod (25) is hinged to the upper part of the inner wall on the left and right sides of the shovel (2), and the stretching end of the first electric push rod (25) is hinged to the second electric push rod (26); The connecting end of the second electric push rod (26) is hinged to the lower part of the inner wall on the left and right sides of the shovel (2) and is below the connecting end of the first electric push rod (25), and the stretching of the first electric push rod (25) drives the second electric push rod (26) to rotate with the hinged point of the second electric push rod (26) and the shovel (2) as the axis; The stretching end of the second electric push rod (26) is connected to the scraper (21).

3. The mobile detection and cleaning device for the runway of an airport according to claim 1, wherein The front end of the electric vehicle (1) is provided with a connecting rod (22) for connecting the shovel (2), the connecting rod (22) is L-shaped, and the shovel (2) is hinged to the front end of the electric vehicle (1) through the connecting rod (22); Further comprising a shovel driving device for controlling the rotation of the shovel (2), the shovel driving device is connected to the connecting rod (22).

4. The mobile detection and cleaning device for the runway of an airport according to claim 3, wherein The shovel driving device comprises a third electric push rod (23) and a fourth electric push rod (24); The connecting end of the third electric push rod (23) is hinged to the electric vehicle (1), the stretching end of the third electric push rod (23) is hinged to the connecting rod (22), and the third electric push rod (23) drives the shovel (2) to rotate with the hinged point of the connecting rod (22) and the electric vehicle (1) as the axis; The connecting end of the fourth electric push rod (24) is coaxially hinged to the connecting rod (22) with the stretching end of the third electric push rod (23), the stretching end of the fourth electric push rod (24) is hinged to the rear side wall of the shovel (2), and the fourth electric push rod (24) drives the shovel (2) to rotate with the hinged point of the connecting rod (22) and the shovel (2) as the axis.

5. The mobile detection and cleaning device for the runway of an airport according to claim 4, wherein The electric vehicle (1) is internally provided with a garbage can (6), and the opening of the garbage can (6) is arranged at the front end of the electric vehicle (1); The top of the shovel (2) is provided with a garbage docking port (27), and the shovel (2) can be rotated to dock the garbage docking port (27) with the opening of the garbage can (6).

6. The mobile detection and cleaning device for the airport runway according to claim 5, characterized in that, The garbage can (6) is internally provided with a plate (62) and a pull rod (61) for pulling the plate (62); The bottom or side of the garbage can (6) is provided with a sliding groove, and the end of the plate (62) is provided with a sliding block corresponding to the sliding groove, and pulling the pull rod (61) can bring the garbage in the garbage can (6) out.

7. The mobile detection and cleaning device for the airport runway according to claim 4, characterized in that, The control device (5) comprises an industrial computer and a computing platform, and the computing platform is connected with the industrial computer and the industrial camera (4) through a cable; The computing platform comprises an image storage module for storing the foreign matter image of the airport runway taken by the industrial camera (4), an image preprocessing module for processing the image in the image storage module, an image detection module for receiving the image processed by the image preprocessing module, and an image positioning module for receiving the foreign matter image information detected by the image detection module, and calculating the three-dimensional space coordinates of the foreign matter and transmitting the coordinate information to the industrial computer.

8. The mobile detection and cleaning device for the airport runway according to claim 7, characterized in that, The industrial computer comprises an electric control system for controlling the electric vehicle (1), the scraper driving device, the shovel driving device, the mechanical arm (3) and the industrial camera (4).

9. The mobile detection and cleaning device for the airport runway according to claim 8, characterized in that, The mechanical arm (3) comprises a servo motor for driving the mechanical arm (3).

10. The mobile detection and cleaning device for the airport runway according to claim 9, characterized in that, The mechanical arm (3) further comprises a position sensor for feeding back the actual position of the motor or joint, and a force and torque sensor for detecting the force and torque of the end effector of the mechanical arm.

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