Special joint feature detection and parameter regulation device for robot

Abstract

The invention relates to a special joint feature detection and parameter regulation device for a robot, which is provided with a control and processing unit, a servo driving unit, a reducing gear and load unit; the control and processing unit, the servo driving unit, the reducing gear and load unit transmit instructions and data through a high-speed communication bus; and the servo driving unit drives the reducing gear and load unit. The servo driving unit comprises a servo motor driver with the high-dynamic performance of a current real-time feedback interface, a motor 17-bit high-precision encoder and a high-dynamic performance servo motor, and the servo motor driver is connected by lines to control the 17-bit high-precision encoder and the servo motor. The reducing gear and load unit comprises a reducing gear for testing, variable inertia load and a reducing gear load 24-bit high-precision encoder. The special joint feature detection and parameter regulation device for the robot can be used for carrying out dynamic performance parameter testing and identification to the industrial robot with the high-precision reducing gear, and simultaneously, completes the parameter equivalent configuration to the servo motor.

Description

technical field [0001] The invention relates to a robot device, in particular to a robot-specific joint characteristic detection and parameter adjustment device that uses a high-precision reducer for industrial robots to test and identify dynamic performance parameters and simultaneously completes the equivalent configuration of parameters for servo motors. Background technique: [0002] The dynamic characteristics of the high-precision reducer used in industrial robots have a great influence on the performance, efficiency and life of the robot. The acquisition of these characteristic parameters can be used to compensate the accuracy of the robot, which is conducive to the basis of not increasing the hardware cost. Significantly improve the performance index of the robot. In addition, it is also possible to detect the output parameters of the reducer, which is convenient for the quality management of the industrial robot. There is no similar device to complete the correspon...

AI Technical Summary

Problems solved by technology

At present, there is no similar device that can complete the corresponding test

[0003] At the same time, when the robot adjusts the parameters of the servo motor, the motor is often installed on the mechanical body of the robot. To adjust the PID parameters of the servo motor, it is necessary to perform multiple white noise frequency sweeps or speed step responses on the motor under load. Test, if the parameters of this kind of debugging are not selected properly, it is likely to cause impact and damage to the mechanical body

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