Robot terminal load mass detection method and device and industrial robot

Abstract

The invention provides a robot terminal load mass detection method and device and an industrial robot. The robot terminal load mass detection method comprises the steps: a correlation obtaining step:obtaining correlation functions between multiple calibration real-time currents and Ibzi of the robot under a calibration condition and the masses Xbi of multiple calibration workpieces with known masses; and a real-time mass detection step: loading a load to be detected to a terminal of the robot, obtaining real-time operation current Isj of each joint shaft driving motor of the robot, performingsummation to obtain corresponding real-time operation current and Isz, and obtaining the real-time mass M of the load to be detected by utilizing the correlation functions. According to the robot terminal load quality detection method and device and the industrial robot provided by the invention, the load mass of the TCP terminal of the robot is obtained through calculation by obtaining the real-time operation current of each joint shaft motor, a corresponding sensor does not need to be arranged, the design cost of the robot is reduced, and adverse effects on the flexibility of the TCP terminal are avoided.

Description

technical field [0001] The invention belongs to the technical field of robot design, and in particular relates to a method and device for detecting the quality of a robot terminal load and an industrial robot. Background technique [0002] Industrial robots have been used in a variety of applications such as handling, palletizing, arc welding, and grinding. However, to complete tasks in the above various application scenarios, industrial robots need to be equipped with various external Sensors, the robots on the industrial production line need to detect the quality of the products. It is necessary to install a torque sensor at the end of the TCP of the industrial robot to detect the gravity of the product and then calculate the product quality, or directly use the pressure sensor to detect the product at the station of the production line. Quality, the use of these detection sensors increases the cost of the robot. At the same time, installing the torque sensor at the end of...

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Problems solved by technology

[0002] Industrial robots have been used in a variety of applications such as handling, palletizing, arc welding, and grinding. However, to complete tasks in the above various application scenarios, industrial robots need to be equipped with various external Sensors, the robots on the industrial production line need to detect the quality of the products. It is necessary to install a torque sensor at the end of the TCP of the industrial robot to detect the gravity of the product and then calculate the product quality, or directly use the pressure sensor to detect the product at the station of the production line. Quality, the use of these detection sensors increases the cost of the robot, and at the same time, installing the torque sensor at the end of the robot's TCP requires additional tooling, which will reduce the flexibility of the robot itself

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