Output side absolute position detection method, device, geared motor and storage medium

Abstract

The embodiment of the invention relates to the technical field of motors and discloses an output side absolute position detection method and device, a gear motor and a storage medium. The method comprises the steps: acquiring first position information output by a motor side absolute value encoder and second position information output by an incremental encoder on a motor output side; and acquiring an absolute position of the output side of the motor according to the first position information and the second position information that are in one-to-one correspondence with the number r1of turnsrotated by the motor side relative to a preset motor side zero point position. And the r1 is valued in a preset number of turns value range. According to the embodiment of the invention, the gear motor is simple and compact in structure, has no selectivity for the type of the speed reducer, is low in cost, is not affected by power failure; the output absolute position can be read directly after start-up, so that the application requirements of a robot is met well

Description

technical field [0001] The invention relates to the technical field of motors, in particular to an output side absolute position detection method and device, a geared motor and a storage medium. Background technique [0002] In recent years, the development of robots has put forward higher and higher requirements for electromechanical actuator systems. During the operation of the robot, it is very important to accurately obtain the output positions of each joint of the robot. In order to obtain the output absolute position of the joint, the following schemes exist: [0003] One of the existing technical solutions is to pass the motor deceleration output end through the entire motor through a rigid shaft, and install an absolute position encoder or an incremental encoder on the output side at the rear of the motor. On the one hand, the mechanical structure of this method is relatively complicated, and this solution is applicable only to specific reducers with a hollow struc...

AI Technical Summary

Problems solved by technology

Although this solution is reliable, it has a large number of parts, which is not good for applications with tight space

[0006] To sum up, in the existing technology, the execution system of the robot geared motor can not meet the requirements of simple structure, compactness, no selectivity for the type of reducer, low cost, not affected by power failure, and the output absolute position can be read directly when starting up. Waiting for needs

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