Method and device for determining effective torque, robot, and household appliance

Abstract

The invention discloses a method and a device for determining effective torque, a robot and a household appliance. The method comprises the following steps: a torque curve of the motor is obtained; The torque curve is discretized to obtain a discrete torque curve; The area under the line of torque curve in discrete form is calculated, and the actual torque of the motor is obtained. The invention solves the technical problem that a constant is needed in an actual torque formula in the prior art, and the torque of the actual motor is a variable, so that the actual torque formula can not be directly used for calculating the actual torque.

Description

technical field [0001] The present invention relates to the field of robots, in particular to a method and device for determining effective torque, a robot, and household appliances. Background technique [0002] figure 1 and figure 2 The calculation method of the effective torque (Trms) provided for a certain brand of motor selection manual: [0003] The calculation formula of effective torque (Trms) is: [0004] Refer to the judgment standard of effective torque (Trms) provided by Sanyo Electric Selection Manual: effective torque load rate Trms≤Tp×80% (effective torque is less than or equal to 80% of rated torque). Obviously, the above formula only applies to figure 1 and figure 2 The acceleration torque, constant speed torque, and deceleration torque shown are all constant. However, in the production process, industrial robots, especially six-axis vertical industrial robots, most of the logarithmic working conditions, the acceleration within one beat The torque ...

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Problems solved by technology

[0008] Embodiments of the present invention provide a method and device for determining effective torque, a robot, and home appliances, so as to at least solve the need in the effective torque formula in the prior art The use of constants, but the actual torque of the motor is a variable, resulting in the technical problem that the effective torque cannot be directly calculated using the effective torque formula

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