Method and device for determining the booster spring of a robot
A technology for assisting springs and determining methods, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as difficult determination of assisting springs, and achieve the effect of efficiently and accurately determining a suitable assisting spring
Active Publication Date: 2021-10-08
ZHUHAI GREE INTELLIGENT EQUIP CO LTD +1
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[0004] This application provides a method and device for determining a booster spring of a robot to solve the problem in the related art that it is difficult to determine a suitable booster spring for the mechanical arm of a two-axis robot
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[0022] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.
[0023] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is an embodiment of a part of the application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.
[0024] It should be noted that the terms "first" and "second...
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The present application discloses a method and a device for determining a booster spring of a robot. The method includes: obtaining the minimum torque of the motor for balancing the first mechanical arm, the second mechanical arm and the first load under the condition that the booster spring does not perform work on the first mechanical arm; , to obtain the first torque corresponding to the load jointly produced by the first mechanical arm, the second mechanical arm and the first load when the output of the booster spring is maximum; In this case, the second torque corresponding to the load jointly generated by the first mechanical arm, the second mechanical arm and the second load; determine the torque range of the booster spring based on the minimum torque of the motor, the first torque and the second torque; Determine the size of the booster spring based on the torque range of the booster spring. Through this application, the problem in the related art that it is difficult to determine a suitable booster spring for the mechanical arm of a two-axis robot is solved.
Description
technical field [0001] The present application relates to the field of two-axis robots, in particular, to a method and device for determining a booster spring of a robot. Background technique [0002] For medium and large industrial robots, such as those with a rated load exceeding 50kg, in order to achieve stable work, it is necessary to use a booster spring to balance the torque of the robot's two-axis joints during operation. Specifically, the specifications of the booster spring can be mechanical springs, nitrogen gas Springs, etc., the performance parameters of the booster spring affect the performance of the robot. In order to determine the appropriate booster spring, the relevant technologies mainly use continuous testing to select springs for different robots. The efficiency of selecting suitable springs is low. According to the condition of the load and the condition of the load, the appropriate spring can be efficiently selected so that it can work in harmony with ...
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IPC IPC(8): B25J19/00B25J9/16
CPCB25J9/1602B25J19/0016
Inventor 谢黎田世权冯晶晶李明
Owner ZHUHAI GREE INTELLIGENT EQUIP CO LTD