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Positioning method and device for robot joint, robot and storage medium

A technology of robot joints and positioning methods, applied in the directions of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of difficult robot positioning, inaccurate product size, low production efficiency of industrial robots, etc., to improve production efficiency and improve technical effects. Effect

Active Publication Date: 2020-04-17
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the relevant components in the robot, due to the tolerance problem in the processing technology and the coordination problem during assembly, there are technical problems that it is difficult to locate the joints of the robot, which leads to low production efficiency of industrial robots and inaccurate product sizes.

Method used

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  • Positioning method and device for robot joint, robot and storage medium
  • Positioning method and device for robot joint, robot and storage medium
  • Positioning method and device for robot joint, robot and storage medium

Examples

Experimental program
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Embodiment 1

[0038] figure 1 It is a flowchart of a robot joint positioning method provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation of positioning a robot joint, and the method can be executed by a processor or a single-chip microcomputer in the robot. Such as figure 1 As shown, the positioning method of the robot joint in this embodiment specifically includes the following steps:

[0039] Step S110, reset the joint steering gear of the robot;

[0040] Specifically, the joint steering gear is also called a servo motor. Since it can continuously control the rotation angle of a device or equipment through a program, it is widely used in the steering of a smart car or the joint motion of a robot. The steering gear is generally composed of a rudder plate, a reduction gear set, a position sensor, a DC motor and a control circuit. It can be seen that the steering gear is a position servo drive, and the rotation range generally does not exceed 1...

Embodiment 2

[0049] Embodiment 2 of the present invention is further optimized on the basis of Embodiment 1. figure 2 It is a flow chart of a robot joint positioning method provided by Embodiment 2 of the present invention. Such as figure 2 As shown, the positioning method of the robot joint in this embodiment includes:

[0050] Step S210, reset the joint steering gear of the robot;

[0051] Specifically, in this embodiment, for the joints of the robot, such as the robot arm, the initial position of the joints may be that the arms are extended. Before the joint servos of the robot start working, the joint servos can be reset first. Through the reset operation, the joint steering gear can be positioned, so as to ensure that the steering gear is in the normal working position.

[0052] Step S220, driving the joint steering gear along the first direction to stop at a first angle; Step S230, determining whether the joint steering gear rotated by the first angle triggers current limiting ...

Embodiment 3

[0069] image 3 It is a schematic structural diagram of a robot joint positioning device provided by Embodiment 3 of the present invention. Such as image 3 As shown, the robot joint positioning device 300 of this embodiment includes:

[0070] The reset module 310 is used to reset the joint steering gear of the robot;

[0071] A rotation module 320, configured to drive the joint servo to rotate at a first angle in a first direction to stop;

[0072] A calculation module 330, configured to confirm the limit angle difference between the first angle and the preset limit angle;

[0073] The positioning module 340 is configured to rotate the joint steering gear along a second angle according to the limit angle difference to perform initial positioning.

[0074] In this embodiment, the robot joint positioning device 300 of this embodiment further includes:

[0075] A judging module 350, configured to judge whether the joint steering gear rotated by the first angle triggers curr...

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Abstract

The embodiment of the invention discloses a positioning method and device for a robot joint, a robot and a storage medium. The method comprises the following steps that a joint servo of the robot is returned; the joint servo is driven to rotate at a first angle in the first direction for stopping; a limit angle difference between the first angle and a preset limit angle is confirmed; and the jointservo is rotated along a second angle to initialize and position according to the limit angle difference. According to the positioning method, the limit angle difference between the actual rotation angle and the theoretical limit angle is determined, so that the technical objective that in the prior art, the robot joint is difficult to position due to the tolerance problem of a part in the production and machining process and the matching problem of the part in the installation process is solved, and the technical effect that the joint servo is intelligently positioned, and the position of the joint servo is automatically adjusted, so that the production efficiency is improved is achieved.

Description

technical field [0001] Embodiments of the present invention relate to machine positioning technology, and in particular to a positioning method, device, robot and storage medium for a robot joint. Background technique [0002] A robot is a common name for an automatic control machine (Robot), which includes all machines that simulate human behavior or thoughts and simulate other creatures (such as robot dogs, robot cats, etc.). There are still many classifications and controversies about the definition of robots in a narrow sense, and some computer programs are even called robots. In contemporary industry, a robot refers to a man-made machine device that can perform tasks automatically to replace or assist humans in their work. The ideal high-simulation robot is the product of advanced integrated cybernetics, mechatronics, computer and artificial intelligence, materials science and bionics, and the scientific community is currently researching and developing in this directi...

Claims

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Application Information

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IPC IPC(8): B25J17/00B25J9/10
CPCB25J9/10B25J17/00
Inventor 杨若鹄谢铮王轶丹崔宁熊友军
Owner UBTECH ROBOTICS CORP LTD