326 results about "Motion accuracy" patented technology

The invention discloses a robot joint motor dynamic load self-adjusting method based on fuzzy entropy optimization. The robot joint motor dynamic load self-adjusting method comprises the following steps: S1, acquiring operation parameter data of a robot joint motor by adopting sensors arranged at key joints of a robot; s2, generating a corresponding adaptive adjustment factor data set; s3, forming a load probability distribution model parameter data set; s4, applying the load probability distribution model parameter data set to real-time load prediction, determining the load trend of a robot joint motor in a future period of time, and outputting predicted load distribution data; and S5, dynamically adjusting control parameters of a robot joint motor according to the predicted load distribution data and the adaptive adjustment factor data set to form a new control strategy data set. According to the method, the control parameters of the robot joint motor are dynamically adjusted in different load states, so that the oscillation effect of the robot in a complex load environment can be effectively reduced, and energy consumption is optimized under the condition that the motion precision is not affected.

The invention discloses an industrial robot predictive maintenance method and system based on multi-source data fusion, and the method comprises the steps: synchronously collecting vibration, current, temperature, acoustic and visual signals through multiple types of sensors, carrying out the filtering, correction and normalization processing, and constructing a multi-modal feature set; cross-modal alignment is realized through time compensation, after dimensionality reduction, a mechanical vibration group, an electrical performance group, a thermodynamic group and a motion precision group are divided, mahalanobis distances of the groups are calculated based on a historical health reference to serve as local anomaly degree scores, weights are dynamically adjusted according to the change rate, and the weights are combined into a preliminary health index. And introducing a nonlinear amplification mechanism to enhance high-value response, adaptively switching smooth intensity according to a degradation trend, and outputting a comprehensive health index. According to the method, comprehensive perception and dynamic evaluation of the operation state of the practical training platform are realized, multi-source heterogeneous information is effectively fused, the limitation of single signal monitoring is overcome, and the anomaly recognition accuracy is remarkably improved.

The invention provides a construction method, a control method, a system and a medium of a compliant collision avoidance motion model, and the construction method comprises the steps: obtaining a motion track plan corresponding to a target object on a power transmission line in a power transmission network when a mechanical arm of an unmanned plane with an arm moves; building a multi-target reward function corresponding to the motion track planning; wherein the multi-target reward function at least comprises a motion precision reward function, a motion smoothness reward function, a motion energy consumption reward function and an additional reward function; and an improved speed potential field algorithm is adopted, a flexible obstacle avoidance function for obstacles in a motion area where the motion track planning is located is built, a near-end strategy optimization algorithm is adopted, and a corresponding flexible collision avoidance motion model for the mechanical arm to move to the target object is built based on the multi-target award function and the flexible obstacle avoidance function. The motion precision, the safety and the intelligent level of the mechanical arm of the unmanned aerial vehicle with the arm can be improved.

The invention belongs to the technical field of medical instruments, and discloses an intelligent artificial limb which is characterized in that a swing hydraulic cylinder is arranged at the bottom of a joint head, a shank support is connected with a rotating shaft of the swing hydraulic cylinder and can rotate around the rotating shaft, an output shaft of a motor is connected with a valve rod of a flow valve, and a valve element of the flow valve is connected with an oil way of the swing hydraulic cylinder; a rotating shaft of the angle sensor is connected with the rotating shaft; the hydraulic resistance is adjusted through a motor, and the performance of the intelligent artificial limb in the aspects of safety, flexibility and movement precision is remarkably improved through accurate sensor feedback and an intelligent control system. The invention further discloses a control method of the intelligent artificial limb, the controller calculates the dip angle value of the thigh according to the value of the angle signal and the value of the dip angle signal, and a plurality of walking modes are preset in the controller; according to the invention, the angle and inclination angle signals are collected in real time, and the hydraulic resistance of the knee joint is intelligently adjusted according to multiple preset walking modes, so that the walking experience and safety in different motion scenes are optimized.

The invention provides a precise lifting platform. The precise lifting platform comprises a platform base; the lifting component consists of a first wedge-shaped block, a first crossed roller guide rail, a second wedge-shaped block, a second crossed roller guide rail and at least one pair of linear guide mechanisms; the first wedge-shaped block is connected with one part of the first crossed roller guide rail, and the first wedge-shaped block can be guided to move in the first direction; the second wedge-shaped block is connected with the first wedge-shaped block through a second crossed roller guide rail and a linear guide mechanism, so that the second wedge-shaped block can move along with the movement of the first wedge-shaped block; the linear motor is connected with the first wedge-shaped block and can be used for driving the first wedge-shaped block to move; and the feedback device is arranged on the second wedge-shaped block and / or the platform base and can be used for acquiring position parameters of the second wedge-shaped block. The precise lifting platform has a long-term market prospect, the movement precision and the movement stability of the precise lifting platform are in the technical leading edge of an existing lifting platform, and certain social benefits can be achieved.

The invention discloses a motion precision compensation system and method of a numerical control precision automatic lathe, and aims to solve the problems that an existing precision compensation method depends on external calibration, production is interrupted, dynamic errors cannot be responded in real time, and the self-learning closed-loop capability is lacked. The method comprises the steps that servo current, spindle vibration and tool turret position signals are collected in real time; extracting signal features and inputting the signal features into a pre-training model to evaluate a rigidity degradation degree and predict a position deviation; querying a compensation parameter library according to an evaluation result; and injecting the compensation offset into a subsequent numerical control instruction in real time. The system comprises a multi-source signal acquisition module, an edge AI inference engine, a precision state evaluation model, a self-adaptive compensation parameter library and a CNC instruction injection interface. By the adoption of the technical scheme, online real-time precision sensing and self-adaptive compensation without external high-precision equipment and production interruption can be achieved, and machining size consistency and long-term stability are remarkably improved.

The invention discloses a three-axis moving part control method and system based on machine vision. The method comprises the following steps: obtaining a trajectory feature data set from a motion trajectory original data stream; analyzing the difference between the trajectory feature data set and a theoretical trajectory to obtain a deviation distribution report, and calculating the variation amplitude of deviation in combination with historical data and environmental fluctuation conditions to obtain a deviation value matrix; extracting spatial displacement and angle offset data from the deviation value matrix to obtain a basic adjustment amount, and calculating an initial parameter adjustment scheme of each axis in combination with a multi-axis cooperative control constraint condition to obtain a parameter optimization result; and fusing a compensation factor into the parameter optimization result, recalculating the compensation factor for the parameter of which the parameter adjustment result exceeds a preset precision range to obtain a final parameter adjustment scheme, and adjusting the motion parameter of each axis according to the scheme. The method can effectively improve the motion precision and stability of the multi-axis motion part.

The invention discloses a robot mechanical arm joint motion track planning and motion control method. The method comprises the steps that S1, high-precision vibration sensors are installed on a pipe joint and an end effector of a mechanical arm and calibrated; s2, starting a vibration sensor, collecting vibration data of each part in real time, and transmitting the data to a control system; s3, the control system carries out real-time calculation and analysis on the vibration data, and vibration abnormity of the mechanical arm in the operation process is recognized; s4, the mechanical arm is adjusted in real time according to the analysis result, and the stability and precision of the mechanical arm are guaranteed; and S5, storing related data of machine operation and adjustment, thereby facilitating later learning use. Through the technical means of the high-precision vibration sensor, real-time data acquisition and analysis, real-time adjustment, data storage and the like, the vibration condition of the mechanical arm can be monitored in real time, and the movement precision and stability of the robot mechanical arm are remarkably improved.

The invention provides a double-vector cooperative compensation method and system for a multi-degree-of-freedom motion error of a computer rotating shaft, and the method comprises the following steps: synchronously collecting a translation vector and a rotation vector of the rotating shaft through a sensor, and unifying the data of the translation vector and the rotation vector to the same time-space reference; constructing a coupling error model of translation and rotation vectors, and integrating data of the translation and rotation vectors into a unified six-degree-of-freedom error amount; in combination with a feedforward-feedback mechanism, translation and rotation vector compensation weights are dynamically distributed in a time domain, and a real-time adjustment compensation amount is generated through rolling time domain optimization. The method does not need to depend on a complex parameter identification process of a traditional rotating shaft physical model, six-degree-of-freedom error cooperative compensation can be achieved only through sensor data synchronization and a dynamic optimization algorithm, the method is suitable for computer rotating shafts of different loads and motion scenes, and the motion precision and reliability of equipment are remarkably improved.

The invention discloses a large-load high-precision reset type balance automatic calibration system. Each automatic loading subsystem drives a weight to ascend and descend through a spiral elevator, the gravity of different weights is transmitted to a steel belt through a suspender and transmitted to a loading head, the loading head transmits a load to a calibrated balance, and loading of the multi-component load of the calibrated balance is achieved. The displacement sensor measures the distance change of each position and converts the distance change to obtain the deformation. And the balance attitude is adjusted and reset through the reset subsystem. Each subsystem is compact in structure and clear in function. The reset subsystem maximizes the utilization of the advanced performance of a servo motor, so that the reset precision of linear displacement can be equal to the motion precision of the servo motor, and the reset precision of angular displacement is also improved to a corresponding degree. The control logic of each subsystem including the reset subsystem, the automatic loading system, the displacement measurement system and the like is simple, integrated control is easy to realize, automatic calibration is realized, and the calibration efficiency is greatly improved while manpower is liberated.

The invention discloses a quick control method and system for elastic compensation of a rope-driven elbow joint and a storage medium, and relates to the technical field of rope-driven joint control. The rapid control method comprises the following steps: determining a dynamic target of the rope-driven elbow joint; determining the angular displacement of the movable part, the rotational inertia of the movable part, the angular displacement of the driving part, the rope deformation quantity of the first rope and the rope deformation quantity of the second rope; determining an expected track of the movable part; determining an expected moment of force of the movable part; determining an expected track of the driving part; and the control torque of the driving part is determined according to the angular displacement of the movable part, the expected track of the movable part, the angular displacement of the driving part, the expected track of the driving part, the rope deformation quantity of the first rope and the rope deformation quantity of the second rope. According to the rope-driven elbow joint, a compensation item of rope elasticity is introduced into the control torque of the driving part, and the movement precision of the rope-driven elbow joint is improved.

The invention relates to the field of industrial robot control, in particular to a trajectory planning method for a self-adaptive vibration suppression mechanical arm. According to the method, a mechanical arm motion vibration signal is monitored in real time through a vibration sensor, and original data are preprocessed to obtain a cleaning vibration signal; calculating vibration characteristic parameters including frequency, amplitude and phase; based on a reinforcement learning algorithm, a reference trajectory is dynamically adjusted through a strategy network according to the vibration characteristic parameters to generate a vibration suppression trajectory, and a reward function takes the vibration parameters as input optimization network parameters; and finally, the vibration suppression track is converted into a joint movement instruction to drive the mechanical arm, and closed-loop control is formed. According to the self-adaptive vibration suppression method, self-adaptive vibration suppression independent of an accurate model is achieved, and the motion precision and stability of the mechanical arm under different working conditions are improved.

The invention discloses a hanging basket motion control method and system based on operation state recognition, particularly relates to the technical field of bridge construction automation, and is used for solving the problem of poor synchronous control of hanging basket movement. According to the method, working conditions are accurately recognized through multi-source sensing data fusion and a finite-state machine, servo system parameter self-adaptive setting is achieved based on working condition parameter mapping, and an anti-interference movement track is generated by adopting a model prediction control algorithm fusing pose feedback and wind load feedforward; walking synchronization and platform stability are achieved through cross coupling control and posture closed-loop fine adjustment, emergency response is provided through the independent safety guarding thread, control and protection double closed loops are formed, and therefore the motion precision, the anti-interference capacity and the intrinsic safety level of the hanging basket under the variable-load and strong-disturbance working conditions are effectively improved, and the safety of the hanging basket is improved. And the energy consumption and the mechanical vibration frequency in the moving process of the hanging basket are reduced.

The invention discloses a joint strengthening contour control method of a robot milling machining system. The joint strengthening contour control method comprises the steps that the robot edge milling machining system is built; a contour error solving strategy based on a switching geometric method and projection factors is established to obtain a contour error compensation target point and a contour error in the motion process of the mechanical arm; an inner ring and outer ring double-layer cascade contour error control strategy is established, a flexible joint mechanical arm system is decomposed into a fast subsystem and a slow subsystem, mechanical arm dynamic system parameters are predicted, an inner ring guarantees the tracking precision of the flexible joint mechanical arm in a joint space based on the fast subsystem and slow subsystem control laws, and an outer ring corrects contour errors. The contour motion precision of the Cartesian space of the mechanical arm is ensured; and adopting a contour error solving strategy and an inner ring and outer ring double-layer cascade contour error control strategy to carry out double-ring cascade contour control on the robot edge milling processing system. The dynamic tracking precision is improved, and the contour precision of the mechanical arm in the moving process is effectively improved.

The invention relates to the technical field of automatic control, in particular to a pathological section automatic adjusting method and system, and the method comprises the following steps: based on the real-time operation state of a microscope stage, analyzing the load and the moving track of the pathological section stage, adjusting the motion parameters of the microscope stage, and responding to the deviation of the section stage. And adjusting position parameters of the slice by combining slice thickness measurement, and generating a platform deck movement adjustment scheme. According to the invention, through real-time analysis of the operation state of the carrying platform, dynamic adjustment of the load and the track, improvement of the motion accuracy and stability, reduction of the positioning error, combination of the slice thickness, optimization of position parameters, enhancement of the processing consistency and efficiency, reduction of dislocation and invalid motion through track optimization monitoring, adjustment of the batch sequence and deformation correction optimization, and equalization of sample distribution. High-throughput operation efficiency is improved, slice offset is dynamically corrected, accurate positioning under different deformation conditions is ensured, automatic adaptability is improved, and errors and time cost are remarkably reduced.

The invention relates to a motion precision detection method and device, computer equipment, a storage medium and a product. The method is applied to a robot, and comprises the following steps: acquiring a motion data set of a target part on the robot, inputting the motion data set of the target part into a preset kinematics model and a preset error estimation model for position prediction, and generating a predicted position coordinate set corresponding to the motion data set; controlling the target part to move based on the motion data set, measuring the position of the target part after the target part moves based on the motion data set, and generating a measurement position coordinate set corresponding to the motion data set; and determining the motion precision of the robot according to the predicted position coordinate set corresponding to the motion data set and the measured position coordinate set corresponding to the motion data set. By adopting the motion precision detection method provided by the invention, the detection of the motion precision of the robot can be realized, and the detection accuracy of the motion precision of the robot can be improved.

The invention discloses a magnetic drive conveying system, and relates to the technical field of motors, a rotor module is magnetically coupled with an armature winding on a stator body, so that the armature winding can drive the rotor module to move in the conveying direction of the magnetic drive conveying system, and a first detection assembly is arranged between the armature winding and a stator base. The second detection assembly is arranged between the armature winding and the stator base, and the second detection assembly and the first detection assembly are arranged at an interval, so that the position of the mover module can be detected by arranging the first detection assembly and the second detection assembly; when one of the first detection assembly and the second detection assembly cannot be used due to influence of adverse factors such as installation errors and damage, the position of the mover module can be detected through the other one of the first detection assembly and the second detection assembly, and the motion precision of the mover module can be improved.

The invention relates to the technical field of motion redundancy parallel robot control, in particular to a method for designing a 2R1T motion redundancy parallel robot high-performance hierarchical synchronous controller based on time delay estimation, which enables a system to estimate current kinetic parameters in real time by introducing a time delay estimation technology, and enables the current kinetic parameters to be estimated in real time in a high-speed motion state. On the basis of the problems of uncertainty, nonlinearity and the like of robot dynamic parameters, dynamic data predicted in real time is used as feed-forward input, so that excessive redundant calculation is avoided, and the efficiency of a control algorithm is optimized; by introducing hierarchical synchronous control, the error difference between redundant degrees of freedom is overcome, the motion precision of a hierarchical driver and the stability of the system are ensured, and the dynamic response of the robot and the robustness of the system are optimized by taking a time delay estimation technology as dynamic feed-forward compensation; and the coordination problem of redundant degrees of freedom is disassembled into a plurality of sub-problems through layered synchronous control, so that the motion coordination and control precision of the robot is improved.

The invention belongs to the technical field of mobile platforms, and discloses a control method and device of a mobile platform. The method comprises the steps that the axle distance and the wheel distance of a mobile platform, the radar distance between a first laser radar and a second laser radar, the radius of Mecanum wheels and the angular speed of each Mecanum wheel of the mobile platform are acquired; determining a spin angle deviation according to the radar distance and a predetermined average value of distance measurement difference values of the first laser radar and the second laser radar; according to the half length of the wheel base, the half length of the wheel track, the theoretical spinning angle and the spinning angle deviation, the actual equivalent spinning radius of the mobile platform is determined; and according to the actual equivalent spinning radius, the radius of the Mecanum wheel and the angular velocity of each Mecanum wheel, the actual spinning angular velocity of the mobile platform is determined by substituting the actual equivalent spinning radius, the radius of the Mecanum wheel and the angular velocity of each Mecanum wheel into a positive operational formula of the mobile platform, and the mobile platform is controlled to move according to the actual spinning angular velocity. According to the invention, the motion precision of rotation of the mobile platform around the z direction can be improved.

The invention discloses a precision detection and compensation method for an automatic tool setting device, which belongs to the technical field of numerical control machining and comprises the following steps of: calibrating position coordinates of a zero point of a laser tracker in a machine tool coordinate system; moving the machine tool to enable the spindle axis and the zero point of the machine tool tracker to be on the same horizontal plane; obtaining coordinates of a reflector rotation circle center position point d on the automatic tool setting device; setting the zero point of the tracker as f, and rotating a machine tool spindle to enable the axis of the radial motion shaft of the automatic tool setting device to be parallel to the straight line fd; a laser tracker is used for obtaining the distribution rule of mechanical transmission errors on the whole stroke of a radial sliding plate of the automatic tool setting device; and carrying out full-stroke positioning precision and repeated positioning precision compensation on the radial sliding plate of the automatic tool setting device until the movement precision of the radial sliding plate meets the expected precision requirement. According to the method, the measuring laser line of the tracker can be ensured to be coaxial with the measured motion axis to the greatest extent, the influence of the motion error of the rotating shaft of the tracker on the measurement precision is reduced, and high-precision position error measurement and compensation are realized.

The invention relates to a side-hung rotating platform real-time counterweight device, a side-hung rotating platform and a control method, and belongs to the technical field of automation equipment. According to the application, the eccentric load torque of the load is monitored in real time, and the counterweight assembly driven by the linear motor is controlled to move according to the eccentric load torque, so that the counterweight force arm is dynamically adjusted, and the reverse counterweight torque is accurately generated to counteract the eccentric load torque. And when the movement compensation is insufficient, the number of the balancing weights can be increased, so that the balancing weight quality is improved. The motion precision can be effectively improved, the equipment is protected, and the stability is improved.

The invention provides a parallel structure micro-operation robot parameter calibration method based on microscopic vision, and belongs to the technical field of robot parameter calibration, the method mainly uses a microscopic camera to amplify the motion of an end effector of a micro-operation robot, obtains the position of the end effector through image processing, and determines the position of the end effector according to a kinematics analysis result. Kinematics parameters are obtained through calculation, and then the motion precision of the micro-operation robot is measured. The method mainly comprises the following steps of parallel structure robot modeling and kinematics analysis, camera correction, proportional scale determination, robot orthogonality correction, parameter calibration, repeated positioning precision measurement, translation precision measurement and rotation precision measurement. According to the method, the problem of kinematics parameter calibration of the parallel structure micro-operation robot is solved, calibration of the kinematics parameters under the high-precision requirement is achieved, and the kinematics precision of the micro-operation robot is improved.

The embodiment of the invention relates to the technical field of robots, and discloses a control method for improving the humanoid degree of a robot, and the method comprises the steps: obtaining a surface electromyogram signal of a corresponding position through an electromyogram detection assembly disposed at a user, and carrying out the preprocessing of the obtained surface electromyogram signal, so as to obtain an electromyogram activity curve; performing feature extraction on the myoelectricity activity curve to obtain myoelectricity time sequence features, and inputting the myoelectricity time sequence features into an action sequence decoding model for recognition to output action categories and action sequences associated with the action categories; and matching with the to-be-executed machine joint state according to the action category and the action sequence associated with the action category, and if the matching is inconsistent, performing updating operation on the to-be-executed machine joint state according to a matching result. According to the scheme, it is ensured that the motion of the robot is highly consistent with the human motion, and the humanoid degree and motion accuracy of the robot are improved.

The invention belongs to the technical field of robot path planning, and particularly discloses a fixed margin removal robot grinding and polishing process and track synchronous planning method and system. Comprising the steps that a robot smooth end face grinding and polishing material removal profile is constructed; the machining allowance of the workpiece is determined, and the curved surface of the surface of the workpiece is subjected to curved surface reconstruction based on the maximum tolerance limitation; with the machining residual height and the smoothness of the technological parameters as targets, force-speed-position machining information of robot grinding is planned on the reconstructed curved surface, and discrete machining point positions and the technological parameters are obtained; expanding the reconstructed curved surface to a four-dimensional form, obtaining a composite track fusing a position component and a process component, and carrying out adaptive interpolation on the composite track to meet the process precision and the motion precision of a processing point; and obtaining a normal vector of the interpolated composite trajectory, and optimizing a tail end redundancy degree of freedom to obtain process parameters and processing poses of synchronous planning. According to the method, matching and optimization of a track field and a process field in robot grinding are achieved.

The utility model discloses a marble detection platform for wafer detection, which comprises a marble main platform, a marble backup plate, an X-axis component, a Y-axis component and a Z-axis component, and adopts high-planeness marble as a substrate, so that compared with the traditional method adopting a frame type rack as the substrate, the wafer detection platform has the advantages that the structure is simple, and the production efficiency is high. The flatness during follow-up installation and multi-axis equipment operation can be guaranteed, a large-weight base is provided, and it can be guaranteed that equipment at the upper end is not prone to shaking and vibration during operation; the X-axis and the Y-axis of the detection platform are composed of high-precision linear motors and high-precision guide rails, so that the X-axis and the Y-axis run stably, the movement precision and the repetition precision are high, and the positioning precision reaches + / -1 [mu] m; x and Y axes of the detection platform are equipped with high-precision grating scale displacement sensors, and the positioning precision is + / -1 [mu] m; a rubber shock pad is installed at the bottom of the detection platform, overall shaking of the machine table is reduced, and a machine table motion structure operates stably.

The invention discloses an industrial robot automatic control system and method, and relates to the technical field of industrial robots, and the system comprises a data management module, a data analysis module, a motion prediction module and a coordination control module. By accurately analyzing key factors, the system can identify core parameters influencing the motion performance of the robot, the adaptability and working efficiency of the robot in a complex environment are optimized, the motion precision and stability are improved, the system predicts the future motion state and track of the robot in a prospective mode by means of a motion prediction model, and the robot motion performance is improved. Potential fault risks are recognized in advance, production interruption is avoided, the service life of the robot is prolonged, motion parameters are dynamically adjusted according to a prediction result, a control strategy is optimized, and the flexibility and execution efficiency of the robot in a multi-task scene are improved, so that the production efficiency and the product quality are remarkably improved, and the labor cost and operation loss are reduced. And greater economic benefits are created for enterprises.

The invention discloses an error self-calibration method for a parallel coordinate measuring machine based on a characteristic component, and the method comprises the steps: constructing a geometric error model of a parallel mechanism, measuring the characteristic component through the coordinate measuring machine, installing the characteristic component in a working space of the parallel coordinate measuring machine, and carrying out the self-calibration of the error of the parallel coordinate measuring machine. Carrying out data acquisition based on a sphere center distance constraint and a sphere diameter constraint, and correspondingly constructing an error equation based on the sphere center distance constraint and an error equation based on the sphere diameter constraint; combining the error equations to obtain an error calibration model based on multiple feature constraints, using an LM method to identify, correct and substitute kinematic error parameters of the error calibration model, repeating the steps until the kinematic error parameters do not change any more, and stopping iteration to obtain corresponding geometric error parameters of the parallel coordinate measuring machine; and compensating the tail end attitude error caused by the geometric error in the coordinate measuring machine according to the geometric error parameter. According to the invention, the motion precision of the parallel coordinate measuring machine is greatly improved.

The invention discloses a robot action analysis method and system based on image recognition, relates to the technical field of image processing, and comprises the steps of screening image frames, removing a plurality of approximately repeated redundant images, and reducing errors of subsequent image analysis. And carrying out foreground region and background region division on the screened image, and helping to divide the foreground region and the background region through stable image features corresponding to robot actions. Analyzing the matching information of the first key point, adding a second key point, forming a motion track based on the first key point and the second key point, supplementing and assisting the first key point by adding the second key point, thereby obtaining a high-quality motion track, extracting motion features through the motion track, and improving the motion accuracy. And the motion completion degree of the robot is evaluated. A robot action behavior evaluation standard system is unified, the accuracy and adaptability of robot action behavior analysis are improved, and stable operation of robot action behaviors is guaranteed.

The invention relates to a driving improved type three-degree-of-freedom Delta parallel robot. The driving improved type three-degree-of-freedom Delta parallel robot is characterized by comprising a base (1), three groups of parallel driving parts (2), three groups of parallel constraint parts (3) and a movable platform (4), wherein the three groups of parallel driving components (2) and parallel restraining components (3) are uniformly distributed in a crossed manner and are connected between the movable platform (4) and the base (1); the invention provides a drive-improved Delta parallel robot which mainly aims at solving the problem that in the high-speed running process of a traditional Delta parallel robot, inertia force borne by a robot driving arm influences a system, and therefore motion precision is reduced. According to the driving improved Delta robot, on the basis that original high-speed operation is kept, the problem of system vibration caused by the driving arm is solved, meanwhile, the inertia force of a robot mechanism is reduced, the characteristics of large rigidity, high precision, good stability and the like of a parallel mechanism are reserved, and the driving improved Delta robot has wide scientific research and application prospects.

The invention belongs to the technical field of visual verification, and particularly relates to a crane pipe automatic alignment verification method and device, electronic equipment and a computer readable storage medium. The method comprises the steps that an auxiliary positioning three-color disc device is installed over a vertical pipe of the crane pipe, when coordinates of a tank opening are consistent with coordinates of a three-color disc, it is considered that the crane pipe can be accurately inserted into the tank opening, when the coordinates are inconsistent, the difference distance of the coordinates is calculated, the crane pipe moves again, and when the coordinates are consistent, the crane pipe stops moving; through the method, the defects of mechanical structure and motion precision of the crane pipe can be overcome, and the crane pipe can be safely inserted into the tank opening. The method solves the problems that in an automatic crane pipe alignment scene, a crane pipe is usually small and is of a thin-wall structure, and the crane pipe is not easy to recognize or a recognition algorithm is difficult to be accurate.