A robot, its power-off compensation method, and a device with storage function

A technology of storage function and electrical compensation, which is applied in the direction of manipulators, manufacturing tools, program control manipulators, etc., can solve problems such as damage, bearing wear, and impact on user use, and achieve the effects of reducing wear, improving stability, and avoiding continuous accumulation

Active Publication Date: 2021-12-03
SHENZHEN A&E INTELLIGENT TECH INST CO LTD
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  • Claims
  • Application Information

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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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  • A robot, its power-off compensation method, and a device with storage function
  • A robot, its power-off compensation method, and a device with storage function
  • A robot, its power-off compensation method, and a 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 present invention provides a robot, its power-off compensation method, and a device with a storage function. The method includes the following steps: when receiving a power-off command, acquiring the torque of each axis of the robot; according to the torque of each axis and the corresponding Calculate the offset of each axis after power-off according to the parameter information of each axis; perform power-off compensation for each axis according to the offset of each axis. Through the above method, the offset of each axis after the power failure is quickly compensated, which greatly reduces the wear of the bearing when the power is cut off, and improves the stability of the robot.

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 Patents(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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