Method, device and robot for drawing robot payload range diagram

Abstract

The present application provides a method and apparatus for drawing a robot load range diagram, and a robot. The drawing method includes: obtaining a plurality of working condition parameter groups, where the working condition parameter groups include joint parameters and load parameters; calculating, according to each working condition parameter group, the corresponding maximum arm of force of each joint, where the maximum arm of force is the maximum arm of force from the center of mass of the load to the axis of rotation of the joint; determining a relationship formula between a first distance and a second distance according to the plurality of maximum arms of force, where the first distance is the maximum arm of force from the center of mass of the load to the center of the end face of the output flange in a plurality of first directions, and the second distance is the distance from the center of mass of the load to the center of the end face of the output flange in a second direction, and the second direction is the direction of the axis of rotation of the output flange; drawing a relationship curve between the first distance and the second distance according to the relationship formula between the first distance and the second distance, and generating a load range diagram, thereby solving the problem in the prior art that it is impossible to quickly draw a robot load range diagram according to the adjustment of working conditions.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and in particular, to a method, device, computer-readable storage medium, processor, and robot for drawing a load range diagram of a robot. Background Technique

[0002] The load range diagram of a robot is an important reference index for users during use. When using it, users need to judge whether the robot can meet their application scenarios based on it. Due to the adjustability of the running speed and acceleration of the robot, the load range diagram also needs to change accordingly. There is an urgent need for a fast drawing method for the load range diagram to meet the requirements of different working conditions.

[0003] The above information disclosed in the background art section is only used to enhance the understanding of the background art of the technology described in this article. Therefore, the background art may contain certain information that is not prior art known to those skilled in the art in this country. Summary of the Invention

[0004] The main purpose of the present application is to provide a method, device, computer-readable storage medium, processor, and robot for drawing a load range diagram of a robot, so as to solve the problem in the prior art that the load range diagram of the robot cannot be quickly drawn according to the adjustment of the working conditions.

[0005] According to an aspect of an embodiment of the present invention, a method for drawing a load range diagram of a robot is provided. The robot includes a plurality of joints, the plurality of joints are connected in sequence, and the last joint is connected to an output flange. The end face of the output flange is connected to a fixture, and the fixture is used to clamp a load. The drawing method includes: an acquisition step of acquiring a plurality of working condition parameter groups, the working condition parameter groups including the parameters of the joints and the parameters of the load, and the working condition parameter groups corresponding to the joints one by one; a first calculation step of calculating the corresponding maximum moment arms of the respective joints according to the respective working condition parameter groups, the maximum moment arm being the maximum moment arm of the center of mass of the load from the axis of rotation of the joint; a determination step of determining a relational expression between a first distance and a second distance according to the plurality of maximum moment arms, the first distance being the maximum moment arm of the center of mass of the load and the center of the end face of the output flange in a plurality of first directions, the second distance being the distance between the center of mass of the load and the center of the end face of the output flange in a second direction, the second direction being the direction of the axis of rotation of the output flange, and each of the first directions being a direction perpendicular to the second direction; a generation step of drawing a relationship curve between the first distance and the second distance according to the relational expression between the first distance and the second distance, and generating a load range diagram.

[0006] Optionally, the joint includes a speed reducer, and the obtaining step includes: taking the center of the end face of the speed reducer as the origin and the rotation axis of the speed reducer as the Z-axis to establish a joint coordinate system, where the X-axis and Y-axis of the joint coordinate system are perpendicular to each other and both are perpendicular to the Z-axis; calculating the lever arm of the joint according to the coordinates of the centroid of the joint in the joint coordinate system.

[0007] Optionally, the joint includes a speed reducer and a motor. The parameters of the joint include the mass of the joint, the lever arm of the joint, the reduction ratio of the joint, the transmission efficiency of the joint, the starting and stopping torque of the speed reducer, and the rated torque of the motor. The parameters of the load include the mass of the load. The lever arm of the joint is the distance from the centroid of the joint to the rotation axis of the joint. The starting and stopping torque is the minimum torque for the speed reducer to start. The first calculation step includes: calculating the static torque of each corresponding joint according to the starting and stopping torque of the speed reducer, the rated torque of the motor, the reduction ratio of the joint, and the transmission efficiency in each working condition parameter group; calculating the allowable load torque of each corresponding joint according to the static torque of each joint, the mass of each joint, and the lever arm of each joint; calculating the maximum lever arm of each corresponding joint according to the allowable load torque of each joint and the mass of the load. The static torque is the torque output by the joint in the static state.

[0008] Optionally, the determining step includes: determining the maximum lever arm of the last joint as the first distance; determining the relationship formula between the first distance and the second distance according to the remaining maximum lever arms and the first distance.

[0009] Optionally, the generating step includes: adjusting the mass of the load, and sequentially repeating the first calculation step and the determining step at least once to obtain at least one relationship curve between the first distance and the second distance. The number of adjustment times is equal to the number of repetition times; generating the load range diagram according to at least two relationship curves.

[0010] Optionally, the parameters of the joint further include the acceleration of the joint, the moment of inertia of the joint, the instantaneous torque of the speed reducer under the acceleration, and the instantaneous torque of the motor under the acceleration. The method further includes: a second calculation step of calculating the operating torque of each corresponding joint according to the instantaneous torque of the speed reducer, the instantaneous torque of the motor, the reduction ratio of the joint, and the transmission efficiency. The operating torque is the torque output by the joint in the current motion state; a third calculation step of calculating the allowable load inertia according to the operating torque, the mass of the joint, the lever arm of the joint, the maximum lever arm, the acceleration of the joint, and the moment of inertia of the joint.

[0011] Optionally, after the third calculation step, the method further includes: adjusting the acceleration and speed of the joint, and sequentially repeating the second calculation step and the third calculation step at least once to obtain the allowable load inertia under at least one working condition, where the number of adjustment times is equal to the number of repetition times.

[0012] According to another aspect of the embodiments of the present invention, there is also provided a device for drawing a robot load range map. The robot includes a plurality of joints, the plurality of joints are connected in sequence, and the last joint is connected to an output flange. The end face of the output flange is connected to a fixture for clamping a load. The drawing device includes: an acquisition unit configured to perform an acquisition step of acquiring a plurality of working condition parameter sets, where each working condition parameter set includes parameters of the joint and parameters of the load, and the working condition parameter sets correspond to the joints one by one; a first calculation unit configured to perform a first calculation step of calculating, according to each working condition parameter set, a corresponding maximum arm of force of each joint, where the maximum arm of force is the maximum arm of force of the center of mass of the load from the axis of rotation of the joint; a determination unit configured to perform a determination step of determining a relationship formula between a first distance and a second distance according to the plurality of maximum arms of force, where the first distance is the maximum arm of force of the center of mass of the load and the center of the end face of the output flange in a plurality of first directions, the second distance is the distance between the center of mass of the load and the center of the end face of the output flange in a second direction, and the second direction is the direction of the axis of rotation of the output flange, and each first direction is a direction perpendicular to the second direction; and a generation unit configured to perform a generation step of drawing a relationship curve between the first distance and the second distance according to the relationship formula between the first distance and the second distance to generate a load range map.

[0013] According to still another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, where the computer-readable storage medium includes a stored program, and the program executes any one of the methods described above.

[0014] According to still another aspect of the embodiments of the present invention, there is also provided a processor for running a program, where the program, when running, executes any one of the methods described above.

[0015] According to still another aspect of the embodiments of the present invention, there is also provided a robot, including: one or more processors, a memory, and one or more programs, where the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include those for executing any one of the methods described above.

[0016] In an embodiment of the present invention, in the method for drawing the robot load range diagram, first, a plurality of working condition parameter groups are obtained. The working condition parameter groups include the parameters of the joints and the parameters of the load, and the working condition parameter groups correspond to the joints one by one. Then, the maximum moment arm of each corresponding joint is calculated according to each working condition parameter group. The maximum moment arm is the maximum moment arm of the centroid of the load from the axis of rotation of the joint. After that, a relational expression between a first distance and a second distance is determined according to a plurality of the maximum moment arms. The first distance is the maximum moment arm of the centroid of the load and the center of the end face of the output flange in a plurality of first directions. The second distance is the distance between the centroid of the load and the center of the end face of the output flange in a second direction. The second direction is the direction of the axis of rotation of the output flange, and each first direction is a direction perpendicular to the second direction. Finally, a relationship curve between the first distance and the second distance is drawn according to the relational expression between the first distance and the second distance, and a load range diagram is generated. This method calculates the distance from the centroid of the load to the axis of rotation of each joint through the input working condition parameters, determines the distance between the centroid of the load and the center of the end face of the output flange in the second direction and the distance in the second direction according to a plurality of maximum moment arms, generates a relationship curve between the two, and thus obtains a load range diagram, that is, the stopping range of the load near the output flange can be determined, and the load range diagram can be quickly generated according to the input of working condition parameters, solving the problem in the prior art that the robot load range diagram cannot be quickly drawn according to the adjustment of working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings forming a part of this application are used to provide a further understanding of this application. The schematic embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation to this application. In the drawings:

[0018] Figure 1 The flowchart of the method for drawing the robot load range diagram according to an embodiment of this application is shown;

[0019] Figure 2 The schematic diagram of the robot according to an embodiment of this application is shown;

[0020] Figure 3 The schematic diagram of a part of the robot according to an embodiment of this application is shown;

[0021] Figure 4 The schematic diagram of the robot load range diagram according to an embodiment of this application is shown;

[0022] Figure 5 The schematic diagram of the device for drawing the robot load range diagram according to an embodiment of this application is shown. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present application pertains.

[0024] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they specify the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0025] It should be understood that when an element (such as a layer, film, region, or substrate) is described as being "on" another element, the element can be directly on the other element or there can also be an intermediate element. Moreover, in the specification and claims, when an element is described as being "connected" to another element, the element can be "directly connected" to the other element or "connected" to the other element through a third element.

[0026] For ease of description, some nouns or terms related to the embodiments of the present application are described below:

[0027] Load range map: Used to characterize the position range where the robot can hold and stop the load.

[0028] Start-stop torque of the reducer: The minimum torque for starting the reducer or the maximum torque for stopping the reducer.

[0029] As mentioned in the background art, there is a problem in the prior art that it is impossible to quickly draw the robot load range map according to the adjustment of the working conditions. To solve the above problem, in a typical embodiment of the present application, a method, device, computer-readable storage medium, processor, and robot for drawing a robot load range map are provided.

[0030] According to an embodiment of the present application, a method for drawing a robot load range map is provided. The robot includes a plurality of joints, the plurality of joints are connected in sequence, and the last joint is connected to an output flange. The end face of the output flange is connected to a fixture, and the fixture is used to hold a load.

[0031] Figure 1 is a flowchart of the method for drawing a robot load range map according to an embodiment of the present application. As Figure 1 shown, the method includes the following steps:

[0032] Step S101, acquisition step: acquire multiple groups of working condition parameters. The above-mentioned groups of working condition parameters include the parameters of the above-mentioned joints and the parameters of the above-mentioned load, and the above-mentioned groups of working condition parameters correspond to the above-mentioned joints one by one;

[0033] Step S102, first calculation step: calculate the maximum lever arm of each of the above-mentioned joints corresponding to each of the above-mentioned groups of working condition parameters. The above-mentioned maximum lever arm is the maximum lever arm of the center of mass of the above-mentioned load from the axis of rotation of the above-mentioned joint;

[0034] Step S103, determination step: determine the relationship formula between the first distance and the second distance according to multiple above-mentioned maximum lever arms. The above-mentioned first distance is the maximum lever arm of the center of mass of the above-mentioned load and the center of the end face of the above-mentioned output flange in multiple first directions, and the above-mentioned second distance is the distance between the center of mass of the above-mentioned load and the center of the end face of the above-mentioned output flange in the second direction. The above-mentioned second direction is the direction of the axis of rotation of the above-mentioned output flange, and each of the above-mentioned first directions is a direction perpendicular to the above-mentioned second direction;

[0035] Step S104, generation step: draw the relationship curve between the above-mentioned first distance and the above-mentioned second distance according to the relationship formula between the above-mentioned first distance and the above-mentioned second distance, and generate a load range diagram.

[0036] In the above method for drawing the robot load range diagram, first, acquire multiple groups of working condition parameters. The above-mentioned groups of working condition parameters include the parameters of the above-mentioned joints and the parameters of the above-mentioned load, and the above-mentioned groups of working condition parameters correspond to the above-mentioned joints one by one; then, calculate the maximum lever arm of each of the above-mentioned joints corresponding to each of the above-mentioned groups of working condition parameters. The above-mentioned maximum lever arm is the maximum lever arm of the center of mass of the above-mentioned load from the axis of rotation of the above-mentioned joint; then, determine the relationship formula between the first distance and the second distance according to multiple above-mentioned maximum lever arms. The above-mentioned first distance is the maximum lever arm of the center of mass of the above-mentioned load and the center of the end face of the above-mentioned output flange in multiple first directions, and the above-mentioned second distance is the distance between the center of mass of the above-mentioned load and the center of the end face of the above-mentioned output flange in the second direction. The above-mentioned second direction is the direction of the axis of rotation of the above-mentioned output flange, and each of the above-mentioned first directions is a direction perpendicular to the above-mentioned second direction; finally, draw the relationship curve between the above-mentioned first distance and the above-mentioned second distance according to the relationship formula between the above-mentioned first distance and the above-mentioned second distance, and generate a load range diagram. This method calculates the distance from the center of mass of the load to the axis of rotation of each joint through the input working condition parameters, determines the distance between the center of mass of the load and the center of the end face of the output flange in the second direction and the distance in the second direction according to multiple maximum lever arms, generates the relationship curve between the two, and thus obtains the load range diagram, that is, the parking range of the load near the output flange can be determined, realizing the rapid generation of the load range diagram according to the input of working condition parameters, and solving the problem in the prior art that the robot load range diagram cannot be rapidly drawn according to the adjustment of working conditions.

[0037] It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0038] As Figure 2 shown, in this application, a six-axis robot is taken as an example. The six-axis robot includes joints J1, J2, J3, J4, J5, and J6. The above joints J1, J2, J3, J4, J5, and J6 are connected in sequence, and the above joint J6 is connected to the above output flange. The load has a greater impact on the last three joints, that is, a greater impact on joints J4, J5, and J6. When joints J4, J5, and J6 can accommodate the load, joints J1, J2, and J3 will surely be able to as well. Therefore, it is only necessary to calculate based on the parameters of joints J4, J5, and J6 to draw the load range diagram, reducing the amount of calculation and further improving the efficiency of drawing the robot load range diagram.

[0039] In an optional embodiment of this application, the above joint includes a speed reducer. The above obtaining step includes: taking the center of the end face of the above speed reducer as the origin and the rotation axis of the above speed reducer as the Z axis to establish a joint coordinate system. The X axis and Y axis of the above joint coordinate system are perpendicular to each other and both perpendicular to the above Z axis; calculating the lever arm of the above joint according to the coordinates of the centroid of the above joint in the above joint coordinate system.

[0040] In the above embodiment, a coordinate system is established with the center of the end face of the speed reducer of the above joint as the origin and the rotation axis of the above joint as the Z axis. The coordinate system O of joint J4 4 -X 4 Y 4 Z 4 , the coordinate system O of joint J5 5 -X 5 Y 5 Z 5 and the coordinate system O of joint J6 6 -X 6 Y 6 Z 6 As Figure 2 shown, calculate the distance from the centroid of the above joint to the rotation axis of the above joint according to the coordinates of the centroid of the above joint to obtain the lever arm of the above joint, that is, the lever arm R i =(x 2 +y 2 ) 0.5 , where i = 4, 5, or 6, x is the X-axis coordinate of the centroid of the above joint J i , and y is the Y-axis coordinate of the centroid of the above joint J iThe Y-axis coordinate of the centroid.

[0041] To prevent the load from being too far from the joint, which may cause the joint to be unable to bear the load and the load to be unable to stay at the predetermined position. In an alternative embodiment of the present application, the above-mentioned joint includes a speed reducer and a motor. The parameters of the above-mentioned joint include the mass of the above-mentioned joint, the lever arm of the above-mentioned joint, the reduction ratio of the above-mentioned joint, the transmission efficiency of the above-mentioned joint, the start-stop torque of the above-mentioned speed reducer, and the rated torque of the above-mentioned motor. The parameters of the above-mentioned load include the mass of the above-mentioned load. The lever arm of the above-mentioned joint is the distance from the centroid of the above-mentioned joint to the axis of rotation of the above-mentioned joint. The start-stop torque is the minimum torque for the above-mentioned speed reducer to start. The first calculation step includes: calculating the corresponding static torque of each above-mentioned joint according to the start-stop torque of the above-mentioned speed reducer, the rated torque of the above-mentioned motor, the reduction ratio of the above-mentioned joint, and the transmission efficiency in each above-mentioned working condition parameter group; calculating the corresponding allowable load torque of each above-mentioned joint according to the static torque of each above-mentioned joint, the mass of each above-mentioned joint, and the lever arm of each above-mentioned joint; calculating the corresponding maximum lever arm of each above-mentioned joint according to the allowable load torque of each above-mentioned joint and the mass of the above-mentioned load. The static torque is the torque output in the static state of the above-mentioned joint.

[0042] In the above-mentioned embodiment, the above-mentioned joint J i The static torque T01 i The formula for T01 is i = min(Tg1 i , Tm1 i * I i * eta i ), where Tg1 i is the start-stop torque of the speed reducer of the above-mentioned joint, Tm1 i is the rated torque of the motor of the above-mentioned joint, I i is the reduction ratio of the above-mentioned joint, eta i is the transmission efficiency of the above-mentioned joint. The static torque T01 i of the above-mentioned joint is the maximum torque in the static state of the above-mentioned joint J i . Subtracting the self-gravity torque of the joint from the static torque T01 i of the above-mentioned joint can obtain the torque for bearing the load, that is, the allowable load torque TL i . The calculation formula for the allowable load torque TL i is TL i = T01 i - M i * g * R i , where M i is the mass of the above-mentioned joint J i . According to the allowable load torque TL iThe maximum moment arm of the load borne by the above-mentioned joint J can be calculated, that is, the maximum moment arm r of the above-mentioned joint i , the maximum moment arm r i The calculation formula for is r i =TL i / m / g, where m is the mass of the load. The above calculation method can calculate the maximum moment arm of each joint bearing the load. As long as the moment arm between the above load and the above joint does not exceed the maximum moment arm, it can be ensured that the load can stay at the current position.

[0043] In order to ensure that the moment arms between the stop positions of the load and each joint do not exceed the corresponding maximum moment arms, in an optional embodiment of the present application, the above-mentioned determination unit includes: determining the maximum moment arm of the above-mentioned joint at the end as the above-mentioned first distance; determining the relationship between the above-mentioned first distance and the above-mentioned second distance according to the remaining above-mentioned maximum moment arms and the above-mentioned first distance.

[0044] In the above-mentioned embodiment, the above-mentioned first direction and the above-mentioned second direction are as Figure 3 shown. The maximum distance from the load movement position to the rotation axis LZ of the output flange is the maximum moment arm of the above-mentioned joint J6, that is, the above-mentioned first distance LXY = r 6 , that is, the maximum moment arm of the above-mentioned joint J6. The above-mentioned second distance LZ = (min(r 4 , r 5 ) 2 -LXY 2 ) 0.5 -L0, where L0 is the distance between the rotation axis of the above-mentioned joint J5 and the output flange. Subtracting the distance between the rotation axis of the above-mentioned joint J5 and the output flange from the component of the smaller maximum moment arm of the above-mentioned joint J4 and the above-mentioned joint J5 in the above-mentioned second direction can obtain the maximum distance from the load to the output flange in the above-mentioned second direction, that is, the above-mentioned second distance LZ.

[0045] In an optional embodiment of the present application, the above-mentioned generation step includes: adjusting the mass of the above-mentioned load, and sequentially repeating the above-mentioned first calculation step and the above-mentioned determination step at least once to obtain at least one relationship curve between the above-mentioned first distance and the above-mentioned second distance. The number of adjustment times is equal to the number of repetition times; generating the above-mentioned load range diagram according to at least two of the above-mentioned relationship curves.

[0046] In the above-mentioned embodiment, each time the mass of the load is adjusted and recalculated once, a relationship curve between the above-mentioned first distance and the above-mentioned second distance is obtained, so that the mass of the load corresponds to the above-mentioned relationship curve one by one, and a load range diagram for multiple different masses can be obtained, such as Figure 4As shown, in practical applications, the mass of the item to be carried can be used as the load mass to generate a load range diagram for the item to be carried, ensuring that the item is carried within the range allowed by the load range diagram during handling, and avoiding damage to the item caused by exceeding the load-bearing capacity and resulting in the item falling off.

[0047] Since the above load range diagram can only show the position range where the load can stay in a static state and has no guiding significance for whether the load-bearing capacity will be exceeded during the handling process, in an optional embodiment of the present application, the parameters of the above joint further include the acceleration of the above joint, the moment of inertia of the above joint, the instantaneous torque of the above speed reducer under the above acceleration, and the instantaneous torque of the above motor under the above acceleration. The above method further includes: a second calculation step of calculating the operating torque of each corresponding joint according to the instantaneous torque of the above speed reducer, the instantaneous torque of the above motor, the reduction ratio of the above joint, and the transmission efficiency of the above joint, where the operating torque is the output torque of the joint in the current motion state; a third calculation step of calculating the allowable load inertia according to the operating torque, the mass of the joint, the force arm of the joint, the maximum force arm, the acceleration of the joint, and the moment of inertia of the joint.

[0048] In the above embodiment, the above joint J i has an operating torque T02 i The formula for T02 i is T02 i = min(Tg2 i * I i * eta i ), where Tg2 i is the instantaneous torque of the above speed reducer under the above acceleration theta i , the operating torque T02 i of the above joint is the maximum torque in the operating state of the above joint J i , Tm2 i is the instantaneous torque of the above motor under the above acceleration theta i , and the allowable load inertia JLm i = (T02 i - M i * g * R i - M i * r i * g) / theta i - m * r i * r i - J i ; where theta i is the acceleration of the above joint, theta i = 2 * w / t, w is the joint speed, t is the acceleration time, and Ji is the moment of inertia of the above joint, and the allowable load inertia JLm can be determined according to i Prevent the load from falling off due to exceeding the load capacity during handling.

[0049] In an optional embodiment of the present application, after the above third calculation step, the method further includes: adjusting the acceleration and speed of the above joint, and sequentially repeating the above second calculation step and the above third calculation step at least once to obtain the allowable load inertia under at least one working condition, where the number of adjustment times is equal to the number of repetition times.

[0050] In the above embodiment, each time the acceleration and speed are adjusted, the calculation is repeated once to obtain an allowable load inertia, so that the acceleration of the load corresponds one-to-one with the above allowable load inertia, and thus the allowable load inertia for multiple different acceleration and speed working conditions can be obtained, ensuring that the load is not damaged due to exceeding the load capacity when handling the load.

[0051] The embodiment of the present application also provides a device for drawing a robot load range diagram. It should be noted that the device for drawing a robot load range diagram in the embodiment of the present application can be used to execute the method for drawing a robot load range diagram provided in the embodiment of the present application. The following introduces the device for drawing a robot load range diagram provided in the embodiment of the present application. The robot includes a plurality of joints, the plurality of the above joints are connected in sequence, and the last of the above joints is connected to an output flange, and the end face of the above output flange is connected to a fixture, and the above fixture is used to clamp the load.

[0052] Figure 5 is a schematic diagram of the device for drawing a robot load range diagram according to the embodiment of the present application. As Figure 5 shown, the device includes:

[0053] An acquisition unit 10, configured to execute an acquisition step to acquire a plurality of working condition parameter groups, the working condition parameter groups include the parameters of the above joints and the parameters of the above load, and the working condition parameter groups correspond one-to-one with the above joints;

[0054] A first calculation unit 20, configured to execute a first calculation step to calculate the corresponding maximum moment arm of each of the above joints according to each of the above working condition parameter groups, and the maximum moment arm is the maximum moment arm of the centroid of the above load from the axis of rotation of the above joint;

[0055] A determination unit 30 for performing a determination step of determining a relational expression between a first distance and a second distance according to a plurality of the above-mentioned maximum lever arms. The first distance is the maximum lever arm between the centroid of the load and the center of the end face of the output flange in a plurality of first directions. The second distance is the distance between the centroid of the load and the center of the end face of the output flange in a second direction. The second direction is the direction of the rotation axis of the output flange. Each of the first directions is a direction perpendicular to the second direction;

[0056] A generation unit 40 for performing a generation step of drawing a relationship curve between the first distance and the second distance according to the relational expression between the first distance and the second distance, and generating a load range diagram.

[0057] In the apparatus for drawing the robot load range diagram, an acquisition unit acquires a plurality of sets of working condition parameters. The sets of working condition parameters include the parameters of the joints and the parameters of the load. The sets of working condition parameters correspond to the joints one by one. A first calculation unit calculates the corresponding maximum lever arm of each joint according to each set of working condition parameters. The maximum lever arm is the maximum lever arm between the centroid of the load and the rotation axis of the joint. The determination unit determines a relational expression between a first distance and a second distance according to a plurality of the above-mentioned maximum lever arms. The first distance is the maximum lever arm between the centroid of the load and the center of the end face of the output flange in a plurality of first directions. The second distance is the distance between the centroid of the load and the center of the end face of the output flange in a second direction. The second direction is the direction of the rotation axis of the output flange. Each of the first directions is a direction perpendicular to the second direction. The generation unit draws a relationship curve between the first distance and the second distance according to the relational expression between the first distance and the second distance, and generates a load range diagram. The apparatus calculates the distance between the centroid of the load and the rotation axis of each joint through the input working condition parameters, determines the distance between the centroid of the load and the center of the end face of the output flange in the second direction and the distance in the second direction according to a plurality of maximum lever arms, generates a relationship curve between the two, so as to obtain a load range diagram, and thus can determine the parking range of the load near the output flange, realizing the rapid generation of the load range diagram according to the input of the working condition parameters, and solving the problem in the prior art that the robot load range diagram cannot be rapidly drawn according to the adjustment of the working conditions.

[0058] As Figure 2As shown, in this application, a six-axis robot is taken as an example. The six-axis robot includes joints J1, J2, J3, J4, J5, and J6. The above joints J1, J2, J3, J4, J5, and J6 are connected in sequence, and the above joint J6 is connected to the above output flange. The load has a greater impact on the last three joints, that is, a greater impact on joints J4, J5, and J6. When joints J4, J5, and J6 can accommodate the load, joints J1, J2, and J3 will surely be able to as well. Therefore, only by calculating based on the parameters of joints J4, J5, and J6 to draw the load range diagram can the calculation amount be reduced, and the efficiency of drawing the robot load range diagram can be further improved.

[0059] In an optional embodiment of this application, the above acquisition unit includes a establishment module and a first calculation module. Among them, the above establishment module is used to establish a joint coordinate system with the end face center of the above reducer as the origin and the rotation axis of the above reducer as the Z axis. The X axis and the Y axis of the above joint coordinate system are perpendicular to each other and both are perpendicular to the above Z axis; the above first calculation module is used to calculate the lever arm of the above joint according to the coordinates of the centroid of the above joint in the above joint coordinate system.

[0060] In the above embodiment, a coordinate system is established with the end face center of the reducer of the above joint as the origin and the rotation axis of the above joint as the Z axis. The coordinate system O of joint J4 4 -X 4 Y 4 Z 4 , the coordinate system O of joint J5 5 -X 5 Y 5 Z 5 and the coordinate system O of joint J6 6 -X 6 Y 6 Z 6 As Figure 2 shown, according to the coordinates of the centroid of the above joint, calculate the distance from the centroid of the above joint to the rotation axis of the above joint to obtain the lever arm of the above joint, that is, the lever arm R i =(x 2 +y 2 ) 0.5 , where i = 4, 5 or 6, x is the X-axis coordinate of the centroid of the above joint J i , and y is the Y-axis coordinate of the centroid of the above joint J i .

[0061] To prevent the load from being too far from the joint, which may cause the joint to be unable to bear the load and the load to be unable to stop at the predetermined position, in an optional embodiment of the present application, the above joint includes a speed reducer and a motor. The parameters of the above joint include the mass of the above joint, the lever arm of the above joint, the reduction ratio of the above joint, the transmission efficiency of the above joint, the start-stop torque of the above speed reducer, and the rated torque of the above motor. The parameters of the above load include the mass of the above load. The lever arm of the above joint is the distance from the centroid of the above joint to the axis of rotation of the above joint. The start-stop torque is the minimum torque for the above speed reducer to start. The first calculation unit includes a second calculation module, a third calculation module, and a fourth calculation module. Among them, the second calculation module is used to calculate the corresponding static torque of each above joint according to the start-stop torque of the above speed reducer, the rated torque of the above motor, the reduction ratio of the above joint, and the transmission efficiency in each above working condition parameter group; the third calculation module is used to calculate the corresponding allowable load torque of each above joint according to the static torque of each above joint, the mass of each above joint, and the lever arm of each above joint; the fourth calculation module is used to calculate the corresponding maximum lever arm of each above joint according to the allowable load torque of each above joint and the mass of the above load. The static torque is the torque output in the static state of the joint.

[0062] In the above embodiment, the above joint J i The static torque T01 i The formula for is T01 i = min(Tg1 i , Tm1 i * I i * eta i ), where Tg1 i Is the start-stop torque of the speed reducer of the above joint, Tm1 i Is the rated torque of the motor of the above joint, I i Is the reduction ratio of the above joint, eta i Is the transmission efficiency of the above joint. The static torque T01 i Is the maximum torque in the static state of the above joint J i Subtracting the self-gravity torque of the joint can obtain the torque for bearing the load, that is, the allowable load torque TL i , The calculation formula for the allowable load torque TL i Is TL i The calculation formula is TL i = T01 i - M i * g * R i , where M i Is the mass of the above joint J i , According to the allowable load torque TL iThe maximum moment arm of the joint J bearing the load can be calculated, i.e., the maximum moment arm r of the joint i , and the calculation formula for the maximum moment arm r i is r i =TL i / m / g, where m is the mass of the load. The above calculation method can calculate the maximum moment arm of each joint bearing the load. As long as the moment arm between the load and the joint does not exceed the maximum moment arm, it can be ensured that the load can stay at the current position.

[0063] In order to ensure that the moment arms between the stop positions of the load and the joints do not exceed the corresponding maximum moment arms, in an optional embodiment of the present application, the determination unit includes a first determination module and a second determination module. The first determination module is used to determine the maximum moment arm of the last joint as the first distance; the second determination module is used to determine the relationship between the first distance and the second distance according to the remaining maximum moment arms and the first distance.

[0064] In the above embodiment, the first direction and the second direction are as Figure 3 shown. The maximum distance from the load movement position to the rotation axis LZ of the output flange is the maximum moment arm of the joint J6, i.e., the first distance LXY = r 6 , that is, the maximum moment arm of the joint J6. The second distance LZ = (min(r 4 , r 5 ) 2 -LXY 2 ) 0.5 -L0, where L0 is the distance between the rotation axis of the joint J5 and the output flange. The component of the smaller maximum moment arm of the joint J4 and the joint J5 in the second direction minus the distance between the rotation axis of the joint J5 and the output flange can obtain the maximum distance from the load to the output flange in the second direction, i.e., the second distance LZ.

[0065] In an optional embodiment of the present application, the generation unit includes an adjustment module and a generation module. The adjustment module is used to adjust the mass of the load and repeat the above first calculation step and the determination step at least once to obtain at least one relationship curve between the first distance and the second distance. The number of adjustment times is equal to the number of repetition times; the generation module is used to generate the load range diagram according to at least two relationship curves.

[0066] In the above embodiment, each time the mass of the load is adjusted and recalculated once, a relationship curve between the first distance and the second distance is obtained, so that the mass of the load corresponds to the relationship curve one by one, and a load range diagram for multiple different masses can be obtained, as Figure 4As shown, in practical applications, the mass of the item to be carried can be used as the load mass to generate a load range diagram for the item to be carried, ensuring that the item is carried within the range allowed by the load range diagram during transportation and avoiding damage caused by the item falling off due to exceeding the bearing capacity.

[0067] Since the above load range diagram can only represent the position range where the load can stay in a static state and has no guiding significance for whether the bearing capacity will be exceeded during the transportation process, in an alternative embodiment of the present application, the parameters of the above joint further include the acceleration of the above joint, the moment of inertia of the above joint, the instantaneous torque of the above speed reducer under the above acceleration, and the instantaneous torque of the above motor under the above acceleration. The above device further includes a second calculation unit and a third calculation unit. The second calculation unit is used to execute a second calculation step to calculate the operating torque of each corresponding joint according to the instantaneous torque of the above speed reducer, the instantaneous torque of the above motor, the reduction ratio of the above joint, and the transmission efficiency of the above joint. The operating torque is the output torque of the joint in the current motion state. The third calculation unit is used for a third calculation step to calculate the allowable load inertia according to the operating torque, the mass of the joint, the force arm of the joint, the maximum force arm, the acceleration of the joint, and the moment of inertia of the joint.

[0068] In the above embodiment, the operating torque T02 of the above joint J i is i formulated as T02 i = min(Tg2 i , Tm2 i * I i * eta i ), where Tg2 i is the instantaneous torque of the above speed reducer under the above acceleration theta i . The operating torque T02 of the above joint i is the maximum torque in the operating state of the above joint J i . Tm2 i is the instantaneous torque of the above motor under the above acceleration theta i . The allowable load inertia JLm i = (T02 i - M i * g * R i - M i * r i * g) / theta i - m * r i * r i - J i ; where theta i is the acceleration of the above joint, thetai = 2*w / t, where w is the joint speed and t is the acceleration time, and J i is the moment of inertia of the above-mentioned joint. Thus, according to the allowable load inertia JLm i prevent the load from falling off due to exceeding the load-bearing capacity during the handling process.

[0069] In an optional embodiment of the present application, the above-mentioned device further includes a fourth calculation unit, which is used to adjust the acceleration and speed of the above-mentioned joint after the above-mentioned third calculation step, and sequentially repeat the above-mentioned second calculation step and the above-mentioned third calculation step at least once to obtain the above-mentioned allowable load inertia under at least one working condition, and the number of adjustments is equal to the number of repetitions.

[0070] In the above-mentioned embodiment, each time the acceleration and speed are adjusted, the calculation is repeated once to obtain an allowable load inertia, so that the acceleration of the load corresponds one-to-one with the above-mentioned allowable load inertia, and thus the allowable load inertia for multiple different acceleration and speed working conditions can be obtained, ensuring that when handling the load, it is avoided that the load falls off and is damaged due to exceeding the load-bearing capacity.

[0071] The above-mentioned device for drawing the robot load range map includes a processor and a memory. The above-mentioned acquisition unit, first calculation unit, determination unit, generation unit, etc. are all stored in the memory as program units, and the corresponding functions are realized by the processor executing the above-mentioned program units stored in the memory.

[0072] The processor contains a kernel, and the kernel retrieves the corresponding program unit from the memory. One or more kernels can be set, and by adjusting the kernel parameters, the problem in the prior art that the robot load range map cannot be quickly drawn according to the adjustment of the working conditions is solved.

[0073] The memory may include non-permanent memory in the computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of, for example, read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

[0074] An embodiment of the present invention provides a computer-readable storage medium, on which a program is stored, and when the program is executed by a processor, the above-mentioned method is realized.

[0075] An embodiment of the present invention provides a processor, which is used to run a program, and when the above-mentioned program runs, the above-mentioned method is executed.

[0076] An embodiment of the present invention provides a robot. The device includes a processor, a memory, and a program stored on the memory and executable on the processor. When the processor executes the program, at least the following steps are realized:

[0077] Step S101, acquisition step: acquire multiple sets of working condition parameters, where the sets of working condition parameters include the parameters of the joints and the parameters of the load, and the sets of working condition parameters correspond to the joints one by one;

[0078] Step S102, first calculation step: calculate the maximum moment arm of each corresponding joint according to each set of working condition parameters, where the maximum moment arm is the maximum moment arm of the centroid of the load from the axis of rotation of the joint;

[0079] Step S103, determination step: determine the relationship formula between the first distance and the second distance according to multiple maximum moment arms, where the first distance is the maximum moment arm of the centroid of the load and the center of the end face of the output flange in multiple first directions, the second distance is the distance between the centroid of the load and the center of the end face of the output flange in the second direction, the second direction is the direction of the axis of rotation of the output flange, and each of the first directions is a direction perpendicular to the second direction;

[0080] Step S104, generation step: draw the relationship curve between the first distance and the second distance according to the relationship formula between the first distance and the second distance, and generate a load range diagram.

[0081] The present application also provides a computer program product, which is suitable for executing a program initialized with at least the following method steps when executed on a data processing device:

[0082] Step S101, acquisition step: acquire multiple sets of working condition parameters, where the sets of working condition parameters include the parameters of the joints and the parameters of the load, and the sets of working condition parameters correspond to the joints one by one;

[0083] Step S102, first calculation step: calculate the maximum moment arm of each corresponding joint according to each set of working condition parameters, where the maximum moment arm is the maximum moment arm of the centroid of the load from the axis of rotation of the joint;

[0084] Step S103, determination step: determine the relationship formula between the first distance and the second distance according to multiple maximum moment arms, where the first distance is the maximum moment arm of the centroid of the load and the center of the end face of the output flange in multiple first directions, the second distance is the distance between the centroid of the load and the center of the end face of the output flange in the second direction, the second direction is the direction of the axis of rotation of the output flange, and each of the first directions is a direction perpendicular to the second direction;

[0085] Step S104, generation step: draw the relationship curve between the first distance and the second distance according to the relationship formula between the first distance and the second distance, and generate a load range diagram.

[0086] In the above embodiments of the present invention, the descriptions of the various embodiments each have their own emphasis. For parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0087] In several embodiments provided by the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only illustrative. For example, the above division of units can be a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of units or modules can be in an electrical or other form.

[0088] The units described above as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0089] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0090] If the above integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a computer-readable storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in the various embodiments of the present invention. The aforementioned computer-readable storage medium includes: USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs, etc., which can store program codes.

[0091] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0092] 1) In the method for drawing the robot load range diagram of the present application, first, a plurality of working condition parameter groups are obtained. The above-mentioned working condition parameter groups include the parameters of the above-mentioned joints and the parameters of the above-mentioned load, and the above-mentioned working condition parameter groups correspond to the above-mentioned joints one by one; then, the maximum arm lengths of the corresponding joints are calculated according to each of the above-mentioned working condition parameter groups. The above-mentioned maximum arm length is the maximum arm length of the centroid of the above-mentioned load from the rotation axis of the above-mentioned joint; after that, the relationship between the first distance and the second distance is determined according to the plurality of above-mentioned maximum arm lengths. The above-mentioned first distance is the maximum arm length of the centroid of the above-mentioned load and the center of the end face of the above-mentioned output flange in a plurality of first directions, and the above-mentioned second distance is the distance between the centroid of the above-mentioned load and the center of the end face of the above-mentioned output flange in the second direction. The above-mentioned second direction is the direction of the rotation axis of the above-mentioned output flange, and each of the above-mentioned first directions is a direction perpendicular to the above-mentioned second direction; finally, the relationship curve between the above-mentioned first distance and the above-mentioned second distance is drawn according to the relationship between the above-mentioned first distance and the above-mentioned second distance, and the load range diagram is generated. This method calculates the distance from the centroid of the load to the rotation axis of each joint through the input working condition parameters, determines the distance between the centroid of the load and the center of the end face of the output flange in the second direction and the distance in the second direction according to a plurality of maximum arm lengths, generates the relationship curve between the two, so as to obtain the load range diagram, that is, the parking range of the load near the output flange can be determined, and the load range diagram can be quickly generated according to the input of the working condition parameters, solving the problem in the prior art that the robot load range diagram cannot be quickly drawn according to the adjustment of the working condition.

[0093] 2) In the device for drawing the robot load range diagram of the present application, the acquisition unit acquires multiple groups of working condition parameters. The above-mentioned groups of working condition parameters include the parameters of the above-mentioned joints and the parameters of the above-mentioned load, and the above-mentioned groups of working condition parameters correspond to the above-mentioned joints one by one. The first calculation unit calculates the corresponding maximum moment arms of the above-mentioned joints according to each of the above-mentioned groups of working condition parameters. The above-mentioned maximum moment arm is the maximum moment arm of the center of mass of the above-mentioned load from the rotation axis of the above-mentioned joint. The determination unit determines the relationship formula between the first distance and the second distance according to the multiple above-mentioned maximum moment arms. The above-mentioned first distance is the maximum moment arm of the center of mass of the above-mentioned load and the center of the end face of the above-mentioned output flange in multiple first directions. The above-mentioned second distance is the distance between the center of mass of the above-mentioned load and the center of the end face of the above-mentioned output flange in the second direction. The above-mentioned second direction is the direction of the rotation axis of the above-mentioned output flange, and each of the above-mentioned first directions is a direction perpendicular to the above-mentioned second direction. The generation unit draws the relationship curve between the above-mentioned first distance and the above-mentioned second distance according to the relationship formula between the above-mentioned first distance and the above-mentioned second distance, and generates a load range diagram. This device calculates the distance from the center of mass of the load to the rotation axis of each joint through the input working condition parameters, determines the distance between the center of mass of the load and the center of the end face of the output flange in the second direction and the distance in the second direction according to multiple maximum moment arms, generates the relationship curve between the two, and thus obtains the load range diagram, that is, it can determine the parking range of the load near the output flange, realizes the rapid generation of the load range diagram according to the input of working condition parameters, and solves the problem in the prior art that the robot load range diagram cannot be rapidly drawn according to the adjustment of working conditions.

[0094] The foregoing are only the preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for drawing a load range diagram of a robot, characterized in that, the robot includes a plurality of joints, the plurality of joints are connected in sequence, and the last joint is connected to an output flange, the end face of the output flange is connected to a fixture, the fixture is used for clamping a load, and the drawing method includes: an acquisition step of acquiring a plurality of working condition parameter groups, the working condition parameter groups include parameters of the joints and parameters of the load, and the working condition parameter groups correspond to the joints one by one; a first calculation step of calculating corresponding maximum lever arms of each of the joints according to each of the working condition parameter groups, the maximum lever arm being the maximum lever arm of the centroid of the load from the rotation axis of the joint; a determination step of determining a relational expression between a first distance and a second distance according to the plurality of maximum lever arms, the first distance being the maximum lever arm of the centroid of the load and the center of the end face of the output flange in a plurality of first directions, the second distance being the distance between the centroid of the load and the center of the end face of the output flange in a second direction, the second direction being the direction of the rotation axis of the output flange, and each of the first directions being a direction perpendicular to the second direction; a generation step of drawing a relationship curve between the first distance and the second distance according to the relational expression between the first distance and the second distance, and generating a load range diagram; The determining step includes: determining the maximum moment arm of the last joint as the first distance; determining the relationship between the first distance LXY and the second distance LZ according to the remaining maximum moment arms and the first distance LXY, where the second distance LZ = (min(r 4 , r 5 )) 2 - LXY 2 ) 0.5 - L0, where L0 is the distance between the axis of rotation of joint J5 and the output flange, r 4 is the maximum moment arm of joint J4, r 5 is the maximum moment arm of joint J5, the last joint is joint J6, joint J5 is connected to joint J6, and joint J4 is connected to joint J5.

2. The method according to claim 1, characterized in that, the joint includes a speed reducer, and the acquisition step includes: establishing a joint coordinate system with the center of the end face of the speed reducer as the origin and the rotation axis of the speed reducer as the Z axis, the X axis and the Y axis of the joint coordinate system are perpendicular to each other and both perpendicular to the Z axis; calculating the lever arm of the joint according to the coordinates of the centroid of the joint in the joint coordinate system.

3. The method according to claim 1, characterized in that, the joint includes a speed reducer and a motor, the parameters of the joint include the mass of the joint, the lever arm of the joint, the reduction ratio of the joint, the transmission efficiency of the joint, the start-stop torque of the speed reducer and the rated torque of the motor, the parameters of the load include the mass of the load, the lever arm of the joint is the distance from the centroid of the joint to the rotation axis of the joint, the start-stop torque is the minimum torque for the speed reducer to start, and the first calculation step includes: calculating corresponding static torques of each of the joints according to the start-stop torque of the speed reducer, the rated torque of the motor, the reduction ratio of the joint and the transmission efficiency in each of the working condition parameter groups; calculating corresponding allowable load torques of each of the joints according to the static torques of each of the joints, the masses of each of the joints and the lever arms of each of the joints; calculating corresponding maximum lever arms of each of the joints according to the allowable load torques of each of the joints and the mass of the load, and the static torque is the torque output by the joint in a static state.

4. The method according to any one of claims 1 to 3, characterized in that, the generation step includes: Adjust the mass of the load, and repeat the first calculation step and the determination step at least once in sequence to obtain at least one relationship curve of the first distance and the second distance. The number of adjustment times is equal to the number of repetition times; Generate the load range diagram according to at least two of the relationship curves.

5. The method according to claim 3, wherein, the parameters of the joint further include the acceleration of the joint, the moment of inertia of the joint, the instantaneous torque of the speed reducer under the acceleration, and the instantaneous torque of the motor under the acceleration. The method further includes: A second calculation step of calculating the operating torque of each corresponding joint according to the instantaneous torque of the speed reducer, the instantaneous torque of the motor, the reduction ratio of the joint, and the transmission efficiency of the joint. The operating torque is the output torque of the joint under the current motion state; A third calculation step of calculating the allowable load inertia according to the operating torque, the mass of the joint, the force arm of the joint, the maximum force arm, the acceleration of the joint, and the moment of inertia of the joint.

6. The method according to claim 5, wherein, after the third calculation step, the method further includes: Adjust the acceleration and speed of the joint, and repeat the second calculation step and the third calculation step at least once in sequence to obtain the allowable load inertia under at least one working condition. The number of adjustment times is equal to the number of repetition times.

7. A device for drawing a robot load range diagram, wherein, the robot includes a plurality of joints, the plurality of joints are connected in sequence, and the last joint is connected to the output flange. The end face of the output flange is connected to a fixture for clamping the load. The drawing device includes: An acquisition unit for performing the acquisition step to acquire a plurality of working condition parameter groups, where the working condition parameter groups include the parameters of the joints and the parameters of the load, and the working condition parameter groups correspond to the joints one by one; A first calculation unit for performing the first calculation step of calculating the maximum force arm of each corresponding joint according to each working condition parameter group. The maximum force arm is the maximum force arm of the centroid of the load from the axis of rotation of the joint; A determination unit for performing the determination step of determining the relationship formula of the first distance and the second distance according to a plurality of the maximum force arms. The first distance is the maximum force arm of the centroid of the load and the center of the end face of the output flange in a plurality of first directions, and the second distance is the distance between the centroid of the load and the center of the end face of the output flange in the second direction. The second direction is the direction of the axis of rotation of the output flange, and each of the first directions is a direction perpendicular to the second direction; A generation unit for performing the generation step of drawing the relationship curve of the first distance and the second distance according to the relationship formula of the first distance and the second distance, and generating a load range diagram; The determination unit includes a first determination module and a second determination module. Among them, the first determination module is used to determine that the maximum moment arm of the last joint is the first distance LXY; the second determination module is used to determine the relationship between the first distance LXY and the second distance LZ according to the remaining maximum moment arms and the first distance LXY, and the second distance LZ = (min(r 4 , r 5 )) 2 - LXY 2 ) 0.5 - L0, where L0 is the distance between the axis of rotation of joint J5 and the output flange, r 4 is the maximum moment arm of joint J4, r 5 is the maximum moment arm of joint J5, the last joint is joint J6, joint J5 is connected to joint J6, and joint J4 is connected to joint J5.

8. A computer-readable storage medium, wherein, the computer-readable storage medium includes a stored program, wherein the program executes the method according to any one of claims 1 to 6.

9. A processor, wherein, The processor is used to run a program, wherein, when the program runs, it executes the method described in any one of claims 1 to 6.

10. A robot, characterized in that it comprises: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a method for executing the method described in any one of claims 1 to 6.

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