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Robot and power-off compensation method thereof, device with storage function

A storage function, electrical compensation technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as damage, impact on user use, bearing wear, etc., to reduce wear, improve stability, and avoid continuous accumulation.

Active Publication Date: 2019-03-01
SHENZHEN A&E INTELLIGENT TECH INST CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there is a clearance in the brake itself, which is generally ±1°. Therefore, even if the brake is locked, it will fall to a certain extent on the basis of the original power-off position. The falling angle is positively related to the load.
However, in the prior art, no compensation is made for the nodding caused by the play of the brake when the power is turned off, and the error will continue to accumulate. Bearing wear and damage affect the user's use

Method used

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  • Robot and power-off compensation method thereof, device with storage function
  • Robot and power-off compensation method thereof, device with storage function
  • Robot and power-off compensation method thereof, device with storage function

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Embodiment Construction

[0013] see figure 1 , figure 1 It is a schematic flow chart of an embodiment of the method for power-off compensation of a robot in the present invention. The method for power-off compensation of a robot in this embodiment includes the following steps:

[0014] 101: When receiving the power-off command, obtain the torque of each axis of the robot;

[0015] Specifically, the robot processor acquires a power-off instruction. In this embodiment, the power-off instruction is a one-time power-off instruction, and the one-time power-off instruction releases various drives outside the control circuit. Load the calculation module according to the power-off command to obtain the gravity value of each axis body, the gravity value of the load of each axis body, the centrifugal force value of each axis, the Coriolis force value of each axis, the inertial force value of each axis and the Friction value, finally, after the above-mentioned values ​​are summed up and calculated (specifical...

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Abstract

The invention provides a robot and a power-off compensation method thereof, a device with storage function. The method comprises the following steps: acquiring a shaft torque of the robot when receiving a power-off command; calculating the offsets of the respective axes after power-off according to the respective shaft moments and the corresponding parameter information; performing power-off compensation on each axis according to the offsets of the respective axes. Through the above method, the offset of each axis after power failure is quickly compensated, the wear of the bearing during powerfailure is greatly reduced, and the stability of the robot is improved.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to a robot, a power-off compensation method thereof, and a device with a storage function. Background technique [0002] With the development of artificial intelligence technology and changes in social needs, higher requirements are placed on the working capabilities of robots, especially for industrial robots, which are currently the most widely used. [0003] An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device for the industrial field. It can perform work automatically and is a machine that realizes various functions by its own power and control capabilities. It can be commanded by humans or run according to pre-programmed programs. Modern industrial robots can also act according to the principles and programs formulated by artificial intelligence technology. [0004] The process of powering off the industrial robot at zero speed is: the h...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/16B25J9/1602B25J19/00
Inventor 张鹏飞
Owner SHENZHEN A&E INTELLIGENT TECH INST CO LTD
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