Method and device for detecting joint rigidity of robot and robot

A detection device and detection method technology, applied in the field of robots, can solve problems such as difficulty in determining whether the stiffness of robot joints meets design requirements, etc.

Pending Publication Date: 2021-11-16
ZHUHAI GREE INTELLIGENT EQUIP CO LTD +1
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0004] The main purpose of this application is to provide a detection method, device, computer-readable storage medium, processor and robot for the joint stiffness of a robot, so as to solve the problem in the prior art that it is difficult to determine whether the joint stiffness of the robot meets the design requirements

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  • Method and device for detecting joint rigidity of robot and robot
  • Method and device for detecting joint rigidity of robot and robot

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Embodiment 1

[0060] In this embodiment, the above-mentioned robot includes a joint and a mechanical arm, one end of the above-mentioned mechanical arm is connected to the above-mentioned joint, the other end of the above-mentioned mechanical arm is used to clamp a load, the quality of the load is 175kg, and the detection method of the joint stiffness of the robot includes the following step:

[0061] Control the above-mentioned mechanical arm to grab the above-mentioned load, and control the above-mentioned joint to rotate to a horizontal state, and detect the current position of any point on the above-mentioned mechanical arm and the position of the rotation center of the above-mentioned joint, and obtain the first position A' and the second position O respectively ', the coordinates of the first position A' in the vertical plane are (924.544, 193.8307), and the coordinates of the second position O' in the vertical plane are (62.114, -169.16);

[0062] Control the above-mentioned mechanic...

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Abstract

The invention provides a method and device for detecting the joint rigidity of a robot and the robot. The method comprises the steps: controlling a mechanical arm to grab a load, controlling a joint to rotate to a preset angle, detecting the position of a current first measuring point and the position of the rotation center of the joint, and obtaining a first position and a second position respectively, wherein the first measuring point is any point on the mechanical arm; controlling the mechanical arm to put down the load, controlling the joint to rotate to a preset angle, and detecting the current position of the first measuring point and the position of the rotation center of the joint to obtain a third position and a fourth position respectively; determining an angular deviation according to the first position, the second position, the third position and the fourth position; detecting the torque of the joint, and calculating the torsional rigidity of the joint according to the torque and the angular deviation; and determining whether the joint meets the rigidity design requirement or not according to the torsional rigidity of the joint. The problem that whether the joint rigidity of the robot meets the design requirement or not is difficult to determine in the prior art is solved.

Description

technical field [0001] The present application relates to the technical field of robots, in particular, to a detection method, device, computer-readable storage medium, processor and robot for joint stiffness of a robot. Background technique [0002] At the beginning of the design of industrial robots, most designers will check and simulate each joint arm of the industrial robot. However, the joint stiffness has the greatest impact on the overall stiffness of the industrial robot; compared to the deformation of the joint arm of the industrial robot In terms of size, the deformation of the joints in the whole machine is due to the multi-level cooperation of the reducer, the input shaft of the reducer and the motor, etc., the part with the largest deformation in the actual working condition of the entire industrial robot is precisely caused by the reducer, reducer At the joints composed of machine input shafts and motors, there is an urgent need for a detection method to allow...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01M5/00B25J11/00
CPCG01M5/0075B25J11/00
Inventor 冯仕伟吴信宜张志波马俊杰游江灏张天翼
Owner ZHUHAI GREE INTELLIGENT EQUIP CO LTD
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