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1192 results about "Assistive equipment" patented technology

Generated torque control method for leg body exercise assistive apparatus

A generated torque control method for a leg body exercise assistive apparatus enabling a person to make a leg motion in such a feeling that the person is not wearing the leg body exercise assistive apparatus as much as possible by reducing the weight of the leg body exercise assistive apparatus attached to the person acting on the person. On the assumption that a person (A) not wearing the assistive apparatus (1) is making the same motion as a leg motion of the person (A) wearing the leg body exercise assistive apparatus (1) during the leg motion of the person (A), an estimation is made for a person-side joint moment to be generated in each joint of the leg of the person (A), and on the assumption that the assistive apparatus (1) is independently making the same motion as the leg motion, an estimation is made for an apparatus-side joint moment to be generated in the joint regions (4), (6), and (10) of the leg sections of the assistive apparatus (1). The estimated value of the apparatus-side joint moment is considered as a reference torque for torque generation means (18), (19), and (20), and a torque formed by adding a torque according to the estimated value of the person-side joint moment to the reference torque is generated in the torque generation means (18), (19), and (20).
Owner:HONDA MOTOR CO LTD

Device and method for visual detection of welding quality of robot

The invention provides a device and a method for visual detection of welding quality of a robot. The device and the method are characterized in that a visual gun is connected with a welding arm, moves along with a welding gun head, observes welding points and sends scanned picture information to a visual system. The visual system compares the received picture information with standard recipe data and detects and judges weldment splicing errors before welding, welding point quality after welding and a welding process in real time. The method includes: building splicing error detecting standard recipe data, building a welding point standard recipe after welding, building detecting standard recipe data during the welding process, obtaining tracks of the welding points before welding and weldment splicing error picture information, welding point picture information after welding and picture information during the welding process, and comparing the information with the standard recipe data. The device and the method have the advantage of achieving real-time detecting of the welding quality and closed loop feedback control, the detection device is matched with the robot directly to be installed, extra servo follow-up devices are not required to be designed and installed, and investment of a large amount of auxiliary devices is saved.
Owner:柳州市自动化科学研究所
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