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Industrial robot and connecting rod deformation compensation method and device thereof

A deformation compensation device and technology of industrial robots, applied in the field of robots, can solve the problems of automatic assembly operations that cannot meet the accuracy requirements, poor absolute positioning accuracy, deformation of connecting rods, etc. Effect

Active Publication Date: 2021-05-28
杭州飞钛航空智能装备有限公司
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  • Abstract
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  • Application Information

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Problems solved by technology

[0002] Industrial robots generally have good one-way repeat positioning accuracy, but due to the influence of the load and their own gravity, the joints and connecting rods of the robot will deform, resulting in poor absolute positioning accuracy, especially for automated assembly operations with high precision requirements

Method used

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  • Industrial robot and connecting rod deformation compensation method and device thereof
  • Industrial robot and connecting rod deformation compensation method and device thereof
  • Industrial robot and connecting rod deformation compensation method and device thereof

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Embodiment Construction

[0061] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

[0062] Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art wi...

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Abstract

The embodiment of the invention provides an industrial robot and a connecting rod deformation compensation method and device thereof, and relates to the field of robots. The connecting rod deformation compensation method comprises the following steps: acquiring a set coordinate value of an end effector; acquiring the stress condition of a connecting rod, and calculating the deformation amount of the connecting rod according to the stress condition of the connecting rod; and controlling a joint motor according to the set coordinate value of the end effector and the deformation amount of the connecting rod to enable the actual coordinate value of the end effector to be equal to the set coordinate value. According to the connecting rod deformation compensation method, the absolute positioning precision of the robot can be improved, so that automatic assembly with better precision is realized.

Description

technical field [0001] The invention relates to the field of robots, in particular to an industrial robot and a method and device for compensating deformation of a connecting rod thereof. Background technique [0002] Industrial robots generally have good one-way repetitive positioning accuracy, but due to the influence of load and their own gravity, each joint and connecting rod of the robot will be deformed, resulting in poor absolute positioning accuracy, especially unable to meet the requirements of high-precision automated assembly operations. Contents of the invention [0003] The object of the present invention is to provide an industrial robot and its connecting rod deformation compensation method and device, which can improve the absolute positioning accuracy of the robot, thereby realizing automatic assembly with better precision. [0004] Embodiments of the present invention are achieved like this: [0005] In a first aspect, the present invention provides a co...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/00B25J9/0009B25J9/16B25J9/1687
Inventor 陈帅陈俊泰
Owner 杭州飞钛航空智能装备有限公司
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