338 results about "Joint rotation" patented technology

The wearable knee joint exoskeleton comprises a thigh supporting part, a knee joint rotation limiting device and a shank supporting part, the knee joint rotation limiting device is used for limiting the angle range of human knee movement, and the knee joint rotation limiting device is arranged between the thigh supporting part and the shank supporting part; the leg support part is fixedly connected with the thigh support part and the shank support part; the knee joint rotation limiting device is provided with a variable rotation center and supports motion angle limiting of the knee joint in a large range, the knee joint rotation limiting device comprises a continuum rotation mechanism located on the side face of the knee joint of the human body, the continuum rotation mechanism comprises a plurality of continuum rotation modules, and a rotation freedom degree exists between every two adjacent continuum rotation modules. The size of the front-back rotation angle of each rotation freedom degree is related to the shape of the continuum rotation module. The exoskeleton has a variable rotation center, can adapt to natural movement of the knee joint of the human body, and is high in safety, good in stability and easy to wear.

The invention discloses a three-degree-of-freedom rope-driven direct-driven serial wrist based on gear constraint. The wrist comprises a first arm section, a second arm section, a third arm section, a clamping jaw, a first rope-driven mechanism, a second rope-driven mechanism and a third rope-driven mechanism. A gear joint rotating structure is arranged between the first end of the first arm section and the first end of the second arm section, a gear joint rotating structure is arranged between the second end of the second arm section and the first end of the third arm section, and the second end of the third arm section is rotationally connected with the clamping jaw. The rotating axial direction of the first end of the second arm section, the rotating axial direction of the first end of the third arm section and the rotating axial direction of the clamping jaw are perpendicular to one another in a pairwise mode. The first rope driving mechanism, the second rope driving mechanism and the third rope driving mechanism are respectively used for independently controlling the second arm section, the third arm section and the clamping jaw to rotate; the difficulty of parts and installation is greatly reduced, the difficulty of forward and inverse kinematics modeling is reduced, and the difficulty in the prior art is practically solved.

The invention provides a flywheel unloading method based on an electric pushing mechanical arm in a position protection period. The flywheel unloading method comprises the steps that a joint corner combination is selected when the thrust direction is in a position protection allowable range; the control torque under the joint rotation angle combination of each mechanical arm is determined, and an initial table look-up matrix is established; determining an optimal torque and a torque error allowable range; according to the control torque, the optimal torque and the torque error allowable range, grade division is conducted on the joint corner combination; constructing a cost function according to the optimal torque and the control torque; on the basis of grade division, the smaller the cost function is, the higher the priority of the joint corner combination is; selecting a joint corner combination with the highest priority from the initial look-up table matrix, performing permutation and combination of joint corners around the joint corner combination in a fine step length manner, determining a corresponding control moment, forming a second-order look-up table matrix, and selecting a joint corner combination with the highest priority; and circularly selecting the joint corner combination with the highest priority to obtain a final joint corner combination.

The invention relates to the technical field of robot heat dissipation joints, and particularly discloses a heat dissipation mechanical joint for a robot, which comprises a first mechanical arm and a second mechanical arm, the first mechanical arm is rotatably connected with the second mechanical arm, a lug is arranged at the rotational joint of the first mechanical arm and the second mechanical arm, and a shaft hole is formed in the lug along the axis of the lug; the lug is provided with a groove coaxial with the shaft hole, a blocking plate is arranged at an opening of the groove, the blocking plate and the groove define a first cavity for gas to pass through, the inner end face of the blocking plate is fixedly connected with the lug, and the outer end face of the blocking plate is fixedly connected with a motor. Compared with the prior art, according to the technical scheme, heat dissipation of the outer side of the motor is guaranteed, heat dissipation of the end of the motor and the rotating position of the joint is achieved, and the heat dissipation effect of the robot joint is improved.

The invention provides a humanoid robot welding pose adjusting method and system, and belongs to the technical field of artificial intelligence. The humanoid robot welding pose adjusting method comprises the steps that an initial state vector is constructed according to state information of a humanoid robot in the welding process; performing time sequence feature compression processing on the initial state vector to obtain a compressed state vector; inputting the compression state vector into a strategy optimization model to obtain an optimization action strategy output by the strategy optimization model; wherein the strategy optimization model is obtained by training according to a state information sample; according to the optimized action strategy, discretized joint rotation angle values of all joints of the humanoid robot are generated; and according to the discretized joint rotation angle values, the welding pose of the humanoid robot is adjusted. According to the method, a strategy optimization model based on an optimized long-short-term memory network and a multi-head attention mechanism is introduced, and self-adaptive adjustment and accurate control of the humanoid robot on the welding pose in the dynamic welding environment are achieved.

The invention discloses a folding unlocking mechanism and a stroller frame, the folding unlocking mechanism comprises a frame joint and a seat frame joint, the seat frame joint is detachably connected to the frame joint, a linkage extrusion block is arranged on a rotating part of the seat frame joint, and the linkage extrusion block is provided with an extrusion slope; the rotating part and the fixed part of the frame joint are rotationally matched, through holes for locking are formed in the positions, far away from the center, of the rotating part and the fixed part, in the locking state, locking pin shafts extend into the through holes for locking, one ends of the locking pin shafts are fixedly connected with stirring pieces, and the matching relation between the extrusion slopes and the stirring pieces is that in the process of the rotating part of the seat frame joint, the extrusion slopes are extruded. And the extrusion inclined surface extrudes the shifting sheet outwards to force the locking pin shaft to be separated from the through hole for locking so as to finish the unlocking of the frame joint.

The invention belongs to the field of humanoid robots, and discloses a humanoid hand two-finger grabbing multi-mode mechanism for multi-mode movement of a grabbed object, which comprises a humanoid palm base frame, a first finger kinematic chain and a second finger kinematic chain, the first finger kinematic chain comprises a plurality of first finger joint rotating pairs, and the second finger kinematic chain comprises a plurality of second finger joint rotating pairs; the first finger kinematic chain comprises a plurality of first finger joint rotating pairs, the rotating axes of the first finger joint rotating pairs have at least two different extending directions, the second finger kinematic chain comprises a plurality of second finger joint rotating pairs, and the rotating axes of the second finger joint rotating pairs have at least two different extending directions. A first finger kinematic chain and a second finger kinematic chain which clamp a predetermined object are used as a multi-mode switchable connecting rod mechanism, and a transition mode posture and three pinching motion modes of a plane 4R mechanism, an orthogonal Bricard mechanism and a plane symmetry 6R mechanism are formed through motion of a plurality of mechanism rotation pairs. A clamped object achieves 4R connecting rod curve track movement, orthogonal Bricard mechanism space connecting rod curve track movement and plane symmetry 6R mechanism connecting rod curve track movement, and all modes can be switched through transition modes.

The present invention discloses a knee joint assisted exoskeleton robot with a humanoid knee joint, comprising a thigh assembly, a humanoid knee joint mechanism, a calf assembly and a driving mechanism, wherein the thigh assembly and the calf assembly are respectively connected to the humanoid knee joint mechanism, and the driving mechanism drives the calf assembly to drive the humanoid knee joint mechanism to rotate; as the calf assembly swings, the rotation center of the humanoid knee joint mechanism moves up and down, and the rotation radius changes, thereby simulating the movement of the human knee joint. Among them, the humanoid knee joint mechanism is a rotation joint that fully complies with the rotation law of the human knee joint, the joint rotation guide rail is designed according to the rotation trajectory of the human knee joint, and the joint rotation center is a moving block that can be displaced according to a linear groove, which can adapt to the changes in the rotation center and the rotation radius during the joint rotation process, overcoming the disadvantage that the traditional knee joint exoskeleton adopts a single-axis rotation joint, resulting in a low degree of coordination with the wearer, and improving human-machine compatibility.

Disclosed are a uterine manipulator, a uterine manipulator robot including the same, and a uterine manipulator system. The uterine manipulator includes an operation module including an end tip, and an operation structure including an end member provided with the operation module at a front end thereof, and a pitch operation part allowing a pitch operation of rotating the end member about a first axis such that a pitch in a direction which the end tip faces is adjusted, and the pitch operation part includes a first joint disposed to be rotatable while an upward / downward direction is taken as a rotation axis thereof, a second joint disposed on a front side of the first joint, and disposed to be rotatable while the upward / downward direction is taken as a rotation axis thereof, a first connection part that rotates the second joint by transmitting a rotational force of the first joint to the second joint when the first joint is rotated, a third joint disposed on a front side of the second joint, provided with the end member at a front end thereof, and disposed to be rotatable while a leftward / rightward direction is taken as a rotation axis thereof, and a second connection part that rotates the third joint by transmitting a rotational force of the second joint to the third joint when the second joint is rotated.

The invention discloses a rope tension control method and device in a dual-motor antagonism mode, and the method comprises the steps: carrying out the rope drive control of a joint motion model based on a current motor rotation angle position, and generating a current drive control result; if the current driving control result represents that the actually-measured rope tension is not equal to the rope pre-tightening force, interpolation is conducted on the rope length variable quantity through admittance control; if the obtained sensing joint torque is not equal to the target joint torque, interpolation is conducted on the joint corner position through admittance control; and updating the actually measured motor rotation angle position based on the expected joint rotation angle position generated by interpolation, the actually measured joint rotation angle position and the rope length variation generated by interpolation, and outputting the motor rotation angle position of rope driving control at the next moment. In this way, control over rope tension and control over joint torque are introduced into three-ring control of the scheme according to admittance control; under the condition of not depending on the accuracy of a joint motion model, the output accuracy of the joint corner position can be improved.

The invention relates to a joint rotation combined collaborative robot real-time modal analysis method, which comprises the following steps of: 1, splitting a robot into a plurality of independent modules, and enabling each module to be equivalent to a super unit; step 2, obtaining a flexibility matrix Ci and a mass matrix Mi of each super-unit under an output coordinate system of the super-unit, and calculating and converting the Ci to obtain a flexibility matrix CJi of the super-unit under the output coordinate system when the super-unit rotates; 3, the flexibility matrix CJi and the mass matrix Mi obtained in the step 2 are converted to a robot end coordinate system, a robot whole machine flexibility matrix nC and a whole machine mass matrix nM are obtained, and the whole machine rigidity matrix nK is obtained by conducting inversion on nC; and 4, establishing an undamped free vibration equation of the robot, and substituting the complete machine flexibility matrix nC and the complete machine mass matrix nM obtained in the step 3 into the equation so as to solve the inherent frequency of the collaborative robot in real time. According to the method, the rigidity change condition during rotation of the joint module is considered, and the calculation amount is greatly simplified while the calculation error is reduced.

The invention provides a transmission ratio self-adaptive adjusting mechanism for a lightweight knee joint artificial limb. The transmission ratio self-adaptive adjusting mechanism comprises a rack module, the joint rotating module is arranged on the rack module, is used for driving a knee joint to rotate and comprises a small quadrangular frustum pyramid, a rotating piece and a joint rotating shaft with a spline sleeve; the gear transmission module is arranged on the rack module, is used for driving the joint rotating module and comprises a driving motor, a bevel gear transmission system, a three-stage gear transmission system and a worm and gear transmission assembly, and the driving motor drives a joint rotating shaft to rotate by driving the bevel gear transmission system or the three-stage gear transmission system; the switching module is arranged on the rack module and used for driving the spline sleeve to slide so as to switch the bevel gear transmission system and the three-stage gear transmission system, the switching module comprises a switching motor and a switching module transmission assembly, the spline sleeve is sleeved with the switching module transmission assembly, and the switching module transmission assembly is driven by the switching motor to slide so as to switch the bevel gear transmission system and the three-stage gear transmission system. Therefore, the spline sleeve is driven to slide.

The utility model provides a robot wire passing joint, and belongs to the technical field of robots. The problem of how to prolong the service life of the cable is solved. According to the robot wire passing joint, a robot comprises a cable, a four-axis joint and a three-axis joint internally provided with a speed reducer, the wire passing joint is located between the three-axis joint and the four-axis joint, and a connecting body is arranged between the three-axis joint and the wire passing joint; the connecting body comprises a connecting part connected and positioned with the driving end of the speed reducer, a driving part used for driving the four-axis joint to rotate and a single-turning part formed between the connecting part and the driving part, the single-turning part is in a long strip shape, a cable passing cavity is formed in the three-axis joint and located on one side of the speed reducer, and a cable penetrates through the cable passing cavity and the driving part and extends into the four-axis joint; one end of the cable is positioned in the cable passing cavity, and the other end of the cable is positioned in the center of the junction of the cable passing joint and the four-axis joint. The robot wire passing joint can prolong the service life of the cable.

An electromagnetically shiftable positive engagement clutch is shown, having a shifting sleeve which is arranged on a shaft for joint rotation therewith and is linearly displaceable along the shaft between a clutch engagement position and a clutch disengagement position, a clutch body which is aligned coaxially with the shaft, and a stator having at least one energizable drive coil for adjustment of the shifting sleeve along the shaft, wherein in the clutch engagement position there is a positive engagement between the shifting sleeve and the clutch body and thus a rotary connection between the shaft and the clutch body. Moreover, the positive engagement clutch has a stationary sensor device which is arranged adjacent to the shifting sleeve and includes at least one Hall sensor and at least two magnets that magnetically enclose the at least one Hall sensor and are permanently stationary relative to the at least one Hall sensor, with the magnets pointing toward the shifting sleeve and having opposite polarities relative to each other. The sensor device is adjacent to the shifting sleeve in a radial direction so as to be spaced apart therefrom by a radial gap, so that an axial movement of the shifting sleeve is detected by the Hall sensor through a reduction in the radial gap.

The invention provides a modeling method and system for solving the problem of rope flexible deformation vibration of a rope-driven mechanical arm. The method comprises the steps that the mapping relation between a rope and a joint angle is established; rope deformation elastic potential energy is established according to the rope take-up and pay-off variable quantity driven by a motor-driven winch and the current joint rope mapping length; kinetic energy and potential energy of joint rotation and arm lever movement of a motor-driven rope transmission mechanical arm are defined, and a Lagrange function is constructed; according to the second type of Lagrange equation, a rope-driven mechanical arm system kinetic equation of the mapping relation between the rope variation control input and the mechanical arm joint angle is deduced; optimizing the model, proving the stability, and verifying the effectiveness and reliability of the algorithm. The technical problems of mechanical arm reliability servo defects, low set expected track tracking precision and high-frequency vibration caused by nonlinear characteristics such as flexible vibration, friction, rope deformation and hysteresis existing in a circuit, rope flexibility and a mechanical arm system are solved.

A robot middle joint for tendon movement control comprises a first joint support structure, a second joint support structure and a middle joint rotating supporting shaft, and the top of the second joint support structure is rotationally connected with the bottom of the first joint support structure through the middle joint rotating supporting shaft. One end of the joint rotation supporting shaft is fixedly installed on the top of the second joint support structure, at least one idle wheel wire coil is rotatably installed on the middle joint rotation supporting shaft, and a middle joint output wire coil is further fixedly installed on the middle joint rotation supporting shaft. The middle joint output wire coil is fixedly connected with the top of the second joint support structure, and the second joint support structure is fixedly supported at the other end of the middle joint rotating supporting shaft through the middle joint output wire coil. The utility model discloses simple structure, it is convenient to install, dismantle and follow-up maintenance, and each idle wheel wire coil and output wire coil do not interfere with each other, can realize steady operation.

The invention relates to the field of power-assisted exoskeletons, in particular to an active power-assisted exoskeleton which comprises a waist supporting assembly, two leg supporting assemblies, two power assemblies, two speed limiting devices and two joint shells. One end of the leg supporting assembly is connected with the joint shell, the other end of the leg supporting assembly is used for being fixed to the thigh of the human body, and the power assembly is arranged in the joint shell and used for driving the leg supporting assembly to rotate. The speed limiting device is arranged between the power set and the leg supporting assembly and used for limiting the rotating speed of the power assembly. The rotating speed of the joints is kept within a safe range through the speed limiting device, and occupational injuries such as sprain and strain caused by too high rotating speed of the joints are prevented.

A rotor cooling arrangement is provided for an electric machine used in the powertrain of a work vehicle. The electric machine has a housing containing a stator, which is fixed in position around a rotational axis within the housing. The rotor cooling arrangement includes a rotor positioned around the rotational axis within the housing. The rotor has a series of rotor disks with pockets in which magnets are arranged. The rotor disks are separated from each other along the rotational axis by a dielectric. A rotor shaft extends along the rotational axis and is coupled to the rotor disks for common rotation with the stator around the rotational axis. The rotor shaft partially defines a cooling circuit through which a coolant flows to cool the rotor.The cooling circuit comprises an inlet passage in the rotor shaft, which connects to a cooling passage in the form of an open groove in an outer surface of the rotor shaft. This cooling passage is connected to an outlet opening spaced along the axis of rotation from the rotor. The rotor closes the open groove, so that the cooling circuit is a closed loop in which coolant circulates through the rotor shaft from the inlet passage to the cooling passage and then to the outlet opening.

The invention discloses a double-arm wheel type humanoid intelligent robot with a body, and relates to the technical field of intelligent robots, the double-arm wheel type humanoid intelligent robot comprises a movable chassis, a robot body and a folding lifting mechanism, the fixed end of the folding lifting mechanism is arranged at the top of the movable chassis, and the robot body is arranged at the movable end of the folding lifting mechanism; the folding lifting mechanism comprises a first folding part, a second folding part... an Nth folding part which are hinged through a joint rotation driving mechanism, N is an integer larger than or equal to 2, the first folding part is hinged to the movable chassis, and the Nth folding part is hinged to the robot body. The folding lifting mechanism is adopted, the lifting distance of the folding lifting mechanism is the sum of the lengths of N folding parts, and when the folding lifting mechanism is in a folding recovery state, the height of the folding lifting mechanism is only the width of a single folding part, so that the height of the robot in an initial state or a retraction state is greatly reduced; and the purpose of reducing the accommodating space is achieved.

The invention belongs to the technical field of robots, and provides a hip joint exoskeleton and a walking assistance control method.The hip joint exoskeleton comprises three active driving units, and a hip joint exoskeleton sagittal plane driving unit is used for achieving forward flexion / backward extension of a human hip joint; the hip joint exoskeleton coronal plane driving unit is used for realizing human hip joint adduction / abduction; the hip joint exoskeleton horizontal plane driving unit is used for realizing inward rotation / outward rotation of the hip joint of the human body; the hip joint exoskeleton sagittal plane driving unit, the hip joint exoskeleton coronal plane driving unit and the hip joint exoskeleton horizontal plane driving unit are connected through the remote rotating center mechanism, so that a rotating plane corresponding to the horizontal plane driving unit is aligned with a hip joint rotating center through a virtual axis. The hip joint exoskeleton is compact in structure and saves space. According to the control method, when the user wears the exoskeleton to walk, the exoskeleton can accurately assist the walking of the user without time delay.

A high-efficiency continuous rotating hydraulic joint and a control system comprise a swash plate mechanism used for driving the joint to rotate, the swash plate mechanism comprises a swash plate and a power output shaft, and the swash plate is driven by a plurality of multi-cavity hydraulic cylinders to achieve forward and reverse rotation of the power output shaft. The multiple multi-cavity hydraulic cylinders are evenly distributed below the swash plate with the power output shaft as the center, composite piston rods of the multi-cavity hydraulic cylinders and the power output shaft are distributed in parallel, the jacking ends of the composite piston rods are connected with ball bearing seats through ball bearings, and the jacking ends of the composite piston rods are assembled on the swash plate in a sliding mode through the ball bearing seats. The control system comprises an inner ring control system and an outer ring control system, different load matching control methods are adopted corresponding to different rotation angle positions of the power output shaft, fine adjustment of the proportional throttle valve is combined, high-precision constant torque control of the device in a continuous rotation motion state can be achieved, and the device is high in reliability and high in reliability. And high-precision variable-torque control can be realized to match the variable load torque.

The invention concerns a method for measuring torque using a torque sensor integrated in a robot arm joint (17) including the following method steps: - in a calibration step measuring torque using the integrated torque sensor and determining position and velocity and acceleration of a rotating element of the joint during no-load rotation of the joint to obtain training data; - in a training step performing linear regression analysis to obtain a correction function indicative of intrinsic dynamics of the robot arm joint; wherein the correction function is a linear combination of at least four basis functions: i. at least one frictional torque basis function that comprises a first velocity dependent sigmoid function and / or a velocity dependent linear function; and ii. at least one torque ripple basis function that comprises a first position dependent periodic function; and iii. at least one inertia basis function that comprises a first acceleration dependent linear function; and iv. at least one torque offset basis function being a constant; - in an operational measurement step measuring torque using the integrated torque sensor under load condition and obtaining a corrected torque value based on the measured torque value and the correction function.

The invention discloses a high-bearing-capacity spherical gimbal seat, and belongs to the technical field of gimbal seats, the high-bearing-capacity spherical gimbal seat comprises a first flange assembly, a second flange assembly, a ball assembly, a first connecting assembly and a second connecting assembly, the first flange assembly comprises a first flange main body, and a plurality of first through holes are formed in the first flange main body; the device is easy to assemble and high in assembly precision; when an engine needs to swing, the first flange body rotates with the axis of the first pin shafts as the axis, the ball rotates in the constraint direction of the two pairs of first pin shafts and the two pairs of second pin shafts, and therefore the gimbal seat can independently rotate or jointly rotate in the two directions, and bidirectional swing is achieved. In the working process of an engine, thrust is borne and transmitted by the spherical surface, and the two first pin shafts and the two second pin shafts do not bear the thrust, so that the gimbal seat is not prone to bearing large bending moment in the using process, and the normal service life of the gimbal seat is guaranteed.

The utility model discloses a joint turning device for an anastomat, which relates to the technical field of electric anastomats and comprises an anastomat jaw, a rotating part, a sleeve, a fixing rod and a slider, and the rotating part is fixedly connected to one end of the anastomat jaw; the rotating piece is rotationally mounted at one end, extending out of the sleeve, of the mounting block; the fixing rod is provided with a first position for fixing the rotating part and a second position separated from the rotating part; the sliding block is installed on the installation block in a sliding mode, a control rod penetrates through the installation block, one end of the control rod is connected with the installation block, and the sliding block is used for driving the fixing rod to be switched between the first position and the second position. The bending angle is large while the operation hand feeling is good, so that a doctor has a better operation space, and the bending angle-adjustable endoscope can be suitable for medical treatment under more complex clinical conditions.

The invention relates to the technical field of legged robots, and aims to provide a joint coupling driven humanoid robot leg structure and a control method thereof. The whole mechanism has three degrees of freedom which are respectively the flexion and extension movement of the hip joint, the knee joint and the ankle joint, and the hip joint, the knee joint and the ankle joint can flexibly rotate and can reach the human body joint rotation angle range, so that the actions such as jumping can be realized. The invention provides the innovative design of the coupling joint, and has the advantages of enhancing the motion coordination, reducing the control complexity and reducing the energy consumption; on the basis of ensuring sufficient motor torque and proper volume, the appearance and the movement are in line with human body characteristics, and the biological performance advantages of a human body are fully exerted; the structural design is small and exquisite, a joint driving motor moves upwards, and overall light weight is achieved; a control strategy based on power limitation is provided, the Jacobian matrix is utilized to optimize the motor output torque, the system power consumption is further reduced, and the method has a wide social application scene.

The utility model discloses a water heating valve which comprises a valve mechanism and a valve, the valve is fixedly connected with a connecting pipe, the top of the valve is fixedly connected with a fixing box, a supporting assembly is arranged in an inner cavity of the fixing box, a motor assembly is arranged in the inner cavity of the fixing box, a sliding assembly is arranged on the motor assembly, and a baffle assembly is arranged in the valve. Fixing assemblies are arranged on the two sides of the fixing box. A motor works, a lead screw rotates, a sliding plate moves towards a trapezoidal groove, a lifting plate moves downwards, a joint is driven to rotate through a fixing block, and therefore a baffle is moved, a valve can be opened, and a room can be warmed through water heating; through the limiting plate, the joint is prevented from deviating the baffle to affect the work of the water heating valve; a plurality of trapezoidal grooves are formed, so that the valve can be controlled, and the heating temperature of water heating is adjusted by controlling the opening degree of the valve; when the water heating valve is damaged, the fixing box can be detached through the fixing assemblies on the two sides of the fixing box to replace internal parts of the valve, and therefore cost can be saved.

The invention discloses a mechanical arm tool and tunnel hidden disease diagnosis equipment, and relates to the technical field of tunnel structure disease diagnos.The mechanical arm tool comprises a fixing base, a multi-degree-of-freedom mechanical arm and a detection device. The multi-degree-of-freedom mechanical arm comprises a sliding seat, a rotary telescopic large arm, a rotary joint, a rotary small arm and a telescopic small arm, so that the mechanical arm tool realizes flexible movement of the detection device relative to the fixed seat through the multi-degree-of-freedom mechanical arm, and the mechanical arm can bypass a contact network to inspect the wall surface of a tunnel; the flexibility and adaptability of the mechanical arm tool are remarkably improved, the mechanical arm tool can cope with most complex environments, too much intervention of engineers is not needed, and the detection convenience and efficiency are greatly improved.

The invention provides a method and device for determining the joint rotation angle of a servo system through a Hall magnetoelectric encoder, an encoder, electronic equipment and a non-instantaneous computer readable storage medium, and the method comprises the steps: calculating an interval feature value of an electric signal in response to the collected electric signal of the Hall magnetoelectric encoder; and determining the rotation angle of the servo system joint based on an address indexing method by utilizing the corresponding relationship between the preset interval characteristic value and the magnetic pole interval number. According to the embodiment of the invention, the method comprises the steps: firstly, building a corresponding relation between an interval feature value and a magnetic pole interval number; and then, determining the corner size of the joint of the servo system based on a table look-up method. The method is easy to implement and high in response speed.

A method and a device twist single cables about a twisting axis. The single cables each run along a cable axis and have wires, which are twisted in a strand twisting direction to form a strand, and also each have a first cable end and a second cable end. The first cable ends are held separately by a single rotating unit in each case. The second cable ends are held by a twisting unit. The second cable ends are rotated jointly about the twisting axis counter to the strand twisting direction to produce a twisted cable bundle. During the joint rotation, the first cable ends are rotated separately about a cable axis of the respective single cable, in the same rotation direction as the joint rotation. The single cables are each relieved of torsion thereby.

A robot includes: a robot mechanism section having a plurality of joints and a plurality of drive sections (11-16); a control section (22) that causes the robot mechanism section to perform a prescribed checking operation for checking an arbitrary target drive section (14) among the drive sections (11-16) by controlling the drive sections (11-16); and a notification section (24) that notifies of maintenance information of the target drive section (14) based on a current value of a motor (14a) of the target drive section (14) or information related to the current value in the prescribed checking operation; the prescribed checking operation includes: an operation of approaching and pushing an object at a prescribed position from a prescribed start position by the front end of the robot mechanism section or a tool of the front end; and an operation of separating the front end of the robot mechanism section or the tool from the object by sending a control command for rotating the joint by a prescribed rotation angle to the motor (14a) of the target drive section (14).