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Industrial robot and connecting rod deformation compensation method and device

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: 2022-06-07
杭州飞钛航空智能装备有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • 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
  • Industrial robot and connecting rod deformation compensation method and device
  • Industrial robot and connecting rod deformation compensation method and device

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Embodiment Construction

[0061] In order to make the purposes, 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 with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations.

[0062] Thus, the following detailed description of the embodiments of the invention provided in the accompanying drawings are not intended to limit the scope of the invention as claimed, but are merely representative of selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary s...

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Abstract

Embodiments of the present invention provide an industrial robot and a connecting rod deformation compensation method and device thereof, relating to the field of robots. The method for compensating the deformation of the connecting rod includes: acquiring the set coordinate value of the end effector; acquiring the stress of the connecting rod, and calculating the deformation of the connecting rod according to the stress of the connecting rod; The set coordinate value of the end effector and the deformation amount of the connecting rod control the joint motor so that the actual coordinate value of the end effector is equal to the set coordinate value. The embodiments of the present invention can improve the absolute positioning accuracy of the robot, thereby realizing automatic assembly with better accuracy.

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 its connecting rod. 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 deform, resulting in poor absolute positioning accuracy, especially for automated assembly operations with high precision requirements. SUMMARY OF THE INVENTION [0003] The purpose 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 accuracy. [0004] Embodiments of the present invention are implemented as follows: [0005] In a first aspect, the present invention provides a connecting rod deformat...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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