WO2017198220A1 - Robot, et appareil et procédé de mesure de rotation - Google Patents

Robot, et appareil et procédé de mesure de rotation Download PDF

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Publication number
WO2017198220A1
WO2017198220A1 PCT/CN2017/085120 CN2017085120W WO2017198220A1 WO 2017198220 A1 WO2017198220 A1 WO 2017198220A1 CN 2017085120 W CN2017085120 W CN 2017085120W WO 2017198220 A1 WO2017198220 A1 WO 2017198220A1
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WO
WIPO (PCT)
Prior art keywords
rotation
target
detecting portion
region
pulse signal
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/085120
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English (en)
Chinese (zh)
Inventor
刘培超
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Yuejiang Technology Co Ltd
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Shenzhen Yuejiang Technology Co Ltd
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Publication of WO2017198220A1 publication Critical patent/WO2017198220A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G01D5/2451—Incremental encoders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train

Definitions

  • the present invention relates to the field of mechanical device rotation measurement, and more particularly to a robot, a rotation measuring device, and a method.
  • Robots and automation equipment have a broad application market. Taking robots as an example, robot technology is a typical representative of advanced manufacturing technology. It is a multi-disciplinary advanced technology integrating mechanical, electronic, control, computer, sensor, artificial intelligence. Important modern manufacturing automation equipment. Among them, the robot generally has a driving motor, and the driving motor plays the role of driving the various moving joints of the robot for axial movement. In addition, the control system of the robot needs to acquire or limit the motion posture of each joint in the process of controlling the motion of the joint motion, and generally uses data such as the rotational angular velocity and the angular displacement of the driving motor to obtain the motion posture.
  • An object of the present invention is to provide a robot, a rotation measuring device and a method, which aim to solve the problem that the conventional rotary measuring method is difficult to test the zero position and high in cost.
  • the present invention provides a rotation measuring apparatus including an encoder and a calculation unit, the encoder including a ring code channel and a detector connected to the calculation unit, the ring code channel being coaxially mounted On the rotation axis of the measurement target, the detector is placed opposite to the circular code channel, and the ring code channel includes a ring Aligning the detection targets, the detection targets constitute a first region and a second region that are connected end to end, the first region includes the same and repeatedly arranged first detection targets; the second region includes at least one and a first detection target having a different detection target; the detector detecting the detection target output pulse signal on the circular code channel, and the calculation unit calculates a preset zero position of the measurement target according to the pulse signal One or more of a rotation angle and a rotation speed.
  • the present invention also provides a rotation measuring method, comprising an encoder, the encoder comprising a ring code channel and a detector disposed opposite to the ring code channel, the ring code channel being coaxially mounted On the rotation axis of the measurement target, the circular code track includes an annular array detection target, and the detection target constitutes a first region and a second region that are connected end to end, and the first region includes the first detection of the same and repeated arrangement
  • the second region includes at least one second detection target different from the first detection target; the method includes:
  • the present invention also provides a robot including at least one movable joint that can rotate, and the above-described rotation measuring device
  • the code wheel is added to the measuring target (actuator), which eliminates the error between the encoder and the end effector caused by the backlash of the low-cost planetary reducer, and is no longer required to be expensive. Harmonic reducer reduces product cost.
  • functions that distinguish different rotation areas, such as the work area and the limit area can be realized in a low cost manner through one read head and one code track.
  • FIG. 1 is a schematic block diagram of a rotation measuring device according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural diagram of a code disc according to Embodiment 1 of the present invention.
  • FIG. 3 is a partially enlarged schematic view of a portion A in FIG. 2.
  • 4 is a flowchart of a rotation measurement method according to an embodiment of the present invention.
  • FIG. 5 is a flow chart of calculating a zero position of the rotation measuring method shown in FIG. 4;
  • FIG. 6 is a flow chart showing the calculation of the rotational speed of the rotation measuring method shown in FIG. 4;
  • FIG. 7 is a flow chart of calculating a rotation angle of the rotation measuring method shown in FIG. 4;
  • FIG. 8 is a schematic structural diagram of a code disc according to Embodiment 2 of the present invention.
  • FIG. 9 is a partial enlarged view of a portion A in FIG. 8.
  • FIG. 10 is a schematic structural diagram of a robot according to an embodiment of the present invention.
  • Figure 11 is a cross-sectional view taken along line C-C of Figure 10;
  • FIG. 12 is a partially enlarged schematic view of a portion B in FIG. 11.
  • a rotation measuring apparatus includes an encoder 500 and a computing unit 600, the encoder 500 including a ring code channel 510 and a calculation
  • the unit 600 is connected to a detector 520 which is coaxially mounted on the rotating shaft of the measuring target 100.
  • the encoder is added to the measurement target 100, eliminating the error between the encoder 500 and the end determination target 100 caused by the low-speed planetary reducer return gap. It is no longer necessary to use expensive harmonic retarders.
  • the detector 520 is disposed opposite to the circular code channel 510.
  • the circular code channel 510 includes a circular array detection target, and the detection target constitutes a first region 511 and a second region 512 that are connected end to end.
  • An area 511 includes the same and repeatedly arranged first detection target 5111; the second area 512 includes at least one second detection target 5121 different from the first detection target 5111; the detector 520 detects the ring
  • the detection target output pulse signal on the code channel 510, the calculation unit 600 calculates one or more of a preset zero position, a rotation angle, and a rotation speed of the measurement target 100 according to the pulse signal.
  • the detector 520 detects that the first detection target 5111 outputs a first pulse signal, and detects the second detection target 5121 output. a second pulse signal different from the first pulse signal.
  • the first pulse signal and the second pulse signal are at least one of a duty ratio, a period, and a pulse width.
  • the second pulse signal is half of the first pulse signal, that is, the second pulse signal is only a high level or a low level of the first pulse signal.
  • the measurement target 100 is controlled to rotate. Determining a transition edge position between pulse signals of two different pulse widths by changing a pulse width of the acquired adjacent pulse signal; determining the pre-determination according to the jump edge position and a preset calibration parameter Set the zero position.
  • the preset calibration parameter is the number of preset pulse signals, that is, the actual preset zero position may be a jump edge position B between pulse signals of different pulse widths, and the preset pulse signal is zero. . It may also be a certain position of the preset pulse signal (the first pulse signal or the second pulse signal) from the jump edge position B.
  • the pulse width of the acquired adjacent pulse signal changes, it is necessary to control the rotation direction of the measurement target 100 to drive the rotation of the code wheel having the circular code channel 510 so that the first region 511 and the second region 512 pass through.
  • the detection of the detector 520 can cause the pulse width of the adjacent pulse signal to change.
  • the number of pulse signals during the rotation of the measurement target 100 is obtained; and the current rotation angle of the measurement target 100 is calculated according to the number of pulse signals in the rotation process. Specifically, the current rotation angle is obtained by adding the angular positions represented by the pulse signals. If the pulse signal of different pulse width is included, the preset zero position may be determined first, and the rotation angle between the measurement target 100 and the preset zero position is calculated according to the number of pulses between the end point of the rotation and the preset zero position. .
  • the first detection target 5111 includes a first effective detection unit 5111A and a first invalid detection unit 5111B.
  • the first effective detection unit 5111A on the first area 51 is spaced apart, and the first invalid detection unit 5111B is located at a phase. Between the adjacent first effective detecting portions 5111 A.
  • the second detection target 5121 includes a second effective detection portion 5121A and a second invalidation detection portion 5121B, and the second effective detection portion 5121A and the second effective on the second region 512 are valid.
  • the arrangement rule of the detecting portion 5121A is the same as the first effective detecting portion 5111A and the first invalid detecting portion 5111B on the first region 511; the width and the width of the first invalid detecting portion 5111B
  • the width of the second invalid detecting portion 5121B is different and/or the width of the first effective detecting portion 5111A is different from the width of the second effective detecting portion 5121A.
  • the detector 520 detects the first detection target 5 111 and the second detection target 5121, and the first pulse signal and the second pulse signal respectively obtained are at least one of a duty ratio, a period, and a pulse width.
  • the second area 512 includes one of the second detection targets 5121, and the second detection target 5121 includes one of the first effective detection units 5111 A or one of the first An invalid detecting unit 5111B. Thereafter, the detector 520 detects the first detection target 5111 and the second detection target 5121, and obtains the second pulse signal as half of the first pulse signal.
  • the first effective detecting unit 5111A and the second effective detecting unit 5121 A are light transmissive areas, and the first invalid detecting unit 5111B and the second invalid detecting unit 5121B
  • the detector 520 is an optical pickup. That is, the encoder 500 is a photoelectric encoder 500.
  • the first invalid detecting unit 5111B and the second invalid detecting unit 5121B are insulating members, and the first invalid detecting portion 5111B and the second invalid detecting portion 5121B are electrically conductive.
  • the detector 520 is a brush. That is, the encoder 500 is a contact encoder 500.
  • a method of rotating measurement comprising an encoder and a controller, the encoder comprising a ring code channel and a detector placed opposite the ring code channel, the ring code
  • the track is coaxially mounted on a rotation axis of the measurement target, the ring code track includes an annular array detection target, and the detection target constitutes a first region and a second region that are connected end to end, the first region including the same and repeating
  • the first detection target arranged; the second area includes at least one second detection target different from the first detection target.
  • the method includes: Step S110: Control the rotation of the measurement target, and acquire a pulse signal output by the detection target of the encoder. Controlling the rotation of the measurement target, determining that the target drives the encoder to rotate synchronously, and the detector detects that the first detection target and/or the second detection target output the first pulse signal and/or Or the second pulse signal.
  • Step S120 Calculate one or more of a preset zero position, a rotation speed, and a rotation angle of the measurement target by using the acquired pulse signal.
  • step S120 the preset zero position of the measurement target is calculated by using the acquired pulse signal.
  • the method specifically includes:
  • step S201 controlling the measurement target rotation
  • Step S202 when the pulse width of the acquired adjacent pulse signal changes, determining a transition edge position between the pulse signals of two different pulse widths;
  • Step S203 Determine the preset zero position according to the jump edge position and a preset calibration parameter, where the preset calibration parameter is a preset pulse signal number.
  • step S120 the rotation speed of the measurement target is calculated by using the acquired pulse signal, and FIG. 6 specifically includes:
  • step S301 controlling the measurement target rotation
  • Step S302 obtaining the number of pulse signals in the preset time interval
  • Step S303 calculating a rotation speed of the measurement target according to the preset time and the number of the pulse signals.
  • step S120 the rotation angle of the measurement target is calculated by using the acquired pulse signal, and FIG. 7 specifically includes:
  • step S401 controlling the measurement target rotation
  • Step S402 acquiring the number of pulse signals in the rotation process of the measurement target
  • Step S403 calculating a current rotation angle of the measurement target according to the number of pulse signals in the rotation process.
  • a robot such as a desktop-level robotic arm, includes at least one movable joint (eg, a robotic arm, a turntable, etc.) that can be rotated, and a rotation measuring device.
  • movable joint eg, a robotic arm, a turntable, etc.
  • the code wheel is added to the measuring target (actuator), which eliminates the error between the encoder and the end effector caused by the backlash gap of the low-cost planetary reducer, and is no longer required to be expensive.
  • Harmonic reducer reduces product cost; using non-uniform reticle code wheel method, it can realize functions of distinguishing different rotation areas, such as work area and limit, through a read head and a code channel in a low cost manner. Bit area.
  • the code wheel 1 in another embodiment, as shown in FIG. 8 to FIG. 12, includes an annular disk body 10 having a hollow hole 11, and the annular disk body 10 is provided with a ring shape.
  • a code track 20 the ring code track 20 includes at least a first area 21 and a second area 22, and the first area 21 is internally provided with a first non-transmissive area 211 and the adjacent first non-transparent area a first light-transmitting region 212 between the light-transmitting regions 211, wherein the second region 22 is spaced apart from the second non-light-transmitting region 221 and the second transparent portion 221 between the adjacent second non-light-transmitting regions 221
  • the width of the first non-transmissive region 211 is different from the width of the second non-transmissive region 221 and/or the width of the first transparent region 212 and the second transparent region 22 The width is different.
  • the code wheel 1 of the embodiment of the present invention has a distance between adjacent first non-transmissive regions 211 disposed in the first region 21 and an adjacent second non-transparent light disposed in the second region 22.
  • the distance between the regions 221 is different, and the first region 21 and the second region 22 can output different position information, then the boundary line 23 between the first region 21 and the second region 22 can be defined as a zero point when the boundary line is detected.
  • 23 ⁇ that is, the boundary line 23 can be used as the starting zero point to calculate, so as to conveniently determine the specific angle value of detecting the rotation of the code wheel 1.
  • the code wheel 1 provided by the embodiment of the present invention is mainly used as a component of the rotary encoder 3, and the rotary encoder 3 using the code wheel 1 is mainly used as a component of the robot 9.
  • the structure of the code wheel 1 provided by the embodiment of the present invention has at least three modes:
  • the width of the first non-transmissive region 211 is different from the width of the second non-transmissive region 221; thus, the first region 21 and the second region 22 may output different position information;
  • the width of the first light transmitting region 212 is different from the width of the second light transmitting region 22; likewise, the first region 21 and the second region 22 can be ensured to output different position information;
  • the width of the first non-transmissive region 211 is different from the width of the second non-transmissive region 221 and the width of the first transparent region 212 is different from the width of the second transparent region 22; A region 21 and a second region 22 output different position information.
  • the code wheel 1 provided by the embodiment of the invention has a simple overall structure, low cost and is easy to implement.
  • the first area 21 and the second area 22 are relative area distribution settings, that is, one area defined first is the first area 21, and then The area defined by one area 21 is the second area 22.
  • first non-transmissive region 211 and the second non-transparent region 221 can be fabricated by a process such as chrome plating etching.
  • the first light transmitting region 212 and the second light transmitting region 222 may be formed by the annular disk body 10 which is itself transparent.
  • the distance between the adjacent first non-transmissive regions 211 is greater than the distance between the adjacent second non-transmissive regions 221, or The distance between the adjacent first non-transmissive regions 211 is smaller than the distance between the adjacent second non-transmissive regions 221 (this structural diagram is not shown). Specifically, by setting the distance between the adjacent first non-transmissive regions 211 to be larger or smaller than the distance between the adjacent second non-transmissive regions 221, the first region 21 and the second region can be made.
  • the area 22 forms a boundary line 23, the code wheel 1 is specifically operated, and the read head 2 enters the second area 22 from the first area 21 through the boundary line 23, and the first area 21 and the second area 22 respectively output different information, then With the dividing line 23 as the starting zero point, the reading head 2 continues to calculate the rotation angle of the code wheel 1 through the second area 22, and when the code wheel 1 is rotated to a certain angle, the angle signal is output to the reading head 2, The read head 2 transmits the signal to the relevant control module to control the code wheel 1 to continue to rotate, thereby achieving the effect of the limit.
  • the area of the first region 21 is smaller than the area of the second region 22.
  • the function of the first region 21 is to form a boundary line 23 with the second region 22, so as to conveniently define the starting zero point, then the area of the first region 21 is set relative to the area of the second region 22, which can be directly Increasing the area of the second region 22, after the starting zero is calculated from the boundary line 23 between the first region 21 and the second region 22, the code wheel 1 continues to rotate, and the second region 22 of the read head 2 can be detected.
  • the range of angles will be larger, that is, the range of rotation angles of the code wheel 1 that can be defined is larger, and the application range is wider.
  • the area ratio of the area of the first region 21 to the second region 22 is 1/14 ⁇ 2/7.
  • the area ratio of the area of the first area 21 to the second area 22 may be 1/14, 1 /7, 3/14 or 2/7, and the area of the first area 21 and the area of the second area 22
  • the setting of the area ratio can satisfy the limit of the rotation angle of most of the code wheel 1; preferably, the area ratio of the area of the first area 21 to the second area 22 is 1/7.
  • the thickness of the annular disk body 10 is ⁇ 0.4 mm.
  • the thickness of the annular disk body 10 may be 0.1 mm, 0.2 mm, 0.3 mm, or 0.4 mm.
  • the design of the annular disk body 10 of the above thickness value ensures that the code wheel 1 outputs a normal signal, and works normally, and does not The thickness is too thick to occupy a larger installation space or affect the installation, and the structure design is reasonable and practical.
  • the annular disk body 10 is a metal annular disk body, a glass annular disk body, a resin annular disk body or a film annular disk body. Specifically, depending on the actual use, metal, glass, resin or The film and the like are made of the annular disk body 10, so that the products are diversified to suit different application environments.
  • the hole edge of the hollow hole 11 extends toward the hole of the hollow hole 11 to provide at least one mounting protrusion 12.
  • the code wheel 1 is generally mounted outside the rotating shaft, for example, the code wheel 1 is fixed outside the rotating shaft by a centering element, so that the stability of the ring code 1 and the centering element after mounting and connecting can be improved by the code wheel 1.
  • the mounting boss 12 extending from the hollow hole 11 is embedded in the centering member
  • the mounting bump 12 also has the function of facilitating positioning and preventing dullness.
  • FIG. 8 preferably, there are two mounting lugs 12, and the two mounting lugs 12 have different outer shape structures, so that the anti-staying effect is better.
  • an embodiment of the present invention further provides a rotary encoder 3 including a read head 2 and the above-described code wheel 1 connected to the read head 2.
  • the rotary encoder 3 of the embodiment of the present invention since the above-described code wheel 1 is used, the read head 2 can start the boundary 23 of the first region 21 and the second region 22 of the code wheel 1 as a start.
  • the zero point calculates the angle at which the code wheel 1 is rotated, so that the function of defining the code wheel 1 to rotate only by a certain angle to achieve the limit position can be realized.
  • the rotary encoder 3 in this embodiment is mainly applied to the rotary base 4 of the robot 9, and the rotary base 4 is limited.
  • an embodiment of the present invention further provides a robot 9 including a rotating base 4 and a robot 5 disposed on the rotating base 4, wherein the rotating base 4 is provided with the above-mentioned Rotary encoder 3.
  • the robot 9 of the embodiment of the present invention can determine the rotation zero of the code wheel 1 by the read head 2 in the rotary encoder 3 by using the above-described rotary encoder 3 in the rotary base 4.
  • the rotation angle of the code wheel 1 is detected to limit the rotation angle of the rotary base 4, thereby preventing the rotation of the rotary base 4 from being entangled.
  • the robot 5 includes a support frame 6, a robot arm 7 and an actuator 8, and the support frame 6 is fixed on the rotating base 4, the machine
  • the arm 7 is mounted on the support frame 6, and the actuator 8 is coupled to the end of the robot arm 7.
  • the rotating base 4 rotates to drive the support frame 6 to rotate
  • the support frame 6 drives the mechanical arm 7 to rotate
  • the mechanical arm 7 drives the actuator 8 to rotate, thereby achieving axial movement.
  • the rotary encoder 3 having the above-described code wheel 1 can define an angle at which the rotary base 4 is axially rotated, thereby preventing the wire connected to the outside of the robot 9 from being wound around the support frame 6, the robot arm 7 or the actuator 8, and achieving the anti-wrap.
  • the function of the line As described above, the present invention has the above-described excellent characteristics, and is useful in the use of the present invention to improve the performance of the prior art and to become a practical product.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optical Transform (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

L'invention concerne un robot et un appareil et un procédé de mesure de rotation. L'appareil comprend un codeur (500). Le codeur (500) comprend un canal de code annulaire (510) et un détecteur (520). Le canal de code annulaire (510) est monté ce manière coaxiale sur un arbre de rotation d'une cible à mesurer (100). Le canal de code annulaire (510) comprend des cibles à détecter agencées en un anneau. Les cibles à détecter forment une première zone (511) et une seconde zone (512) qui sont reliées bout à bout. La première zone (511) comprend des premières cibles à détecter (5111) qui sont identiques et agencées de manière répétée. La seconde zone (512) comprend au moins une seconde cible à détecter (5121). Des signaux d'impulsion émis par les cibles à détecter sont détectés, et une position zéro prédéfinie, un angle de rotation et une vitesse de rotation de la cible à mesurer (100) sont calculés selon les signaux d'impulsion. Un disque de code (1) est chargé sur la cible à mesurer (100), de telle sorte que l'erreur entre le codeur (500) et un exécuteur d'extrémité provoquée par l'écartement de liaison d'un décélérateur planétaire à bas coût est éliminé, les coûts du produit sont réduits, et la précision d'un système est améliorée ; en outre, le disque de code (1) ayant des échelles non uniformes est adopté, de sorte que des fonctions de différentes zones de rotation, telles qu'une zone de travail et une zone de limitation, se distinguent par des coûts faibles en utilisant une tête de lecture et un canal de code.
PCT/CN2017/085120 2016-05-19 2017-05-19 Robot, et appareil et procédé de mesure de rotation Ceased WO2017198220A1 (fr)

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CN201610338737.3A CN106052724B (zh) 2016-05-19 2016-05-19 一种机器人、旋转测量装置及方法
CN201610338737.3 2016-05-19

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CN109968402B (zh) * 2019-02-28 2021-02-09 镁伽科技(深圳)有限公司 回程间隙测量方法及控制方法、装置、系统和存储介质
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CN113739828B (zh) * 2020-05-29 2023-06-16 上海禾赛科技有限公司 测量光电编码器的码盘的角度的方法、电路、设备和介质
CN111765852A (zh) * 2020-06-04 2020-10-13 欧菲微电子技术有限公司 旋转角度识别装置、电子装置及其旋转角度识别方法
CN112021998B (zh) * 2020-07-20 2023-08-29 科沃斯机器人股份有限公司 数据处理方法、测量系统、自主移动设备及清洁机器人
CN113799112B (zh) * 2020-11-11 2024-01-12 深圳市越疆科技有限公司 桌面机械臂的驱动结构、桌面机械臂和机器人
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CN117175985A (zh) * 2023-11-02 2023-12-05 深圳市恒永达科技股份有限公司 步进电机控制方法和装置

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