Method, device, medium and robot for rapid zero-position recovery of robot

Abstract

The present invention relates to a method, device, medium and robot for rapid zero-position recovery of a robot. The method for rapid zero-position recovery of the robot comprises the following steps: obtaining a minimum compensation unit; compensating for an offset joint according to the minimum compensation unit, and determining whether the zero position has been reached; if so, stopping compensation and restoring the robot to zero position. The solution provided by the present application can obtain a reference point without the aid of adjacent equipment or mobile robots when an industrial robot loses its zero position due to a collision, and can be used in a small space; at the same time, the present application calculates the minimum compensation unit based on the characteristics of the robot's mechanical structure, and can quickly determine the minimum compensation reference, which can effectively save time and improve efficiency, thereby quickly restoring the robot's zero position and ensuring rapid recovery of the action site.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a method, device, medium, and robot for rapid zero-position recovery of a robot. Background Art

[0002] With the development of technology, more and more factories are beginning to use industrial robots to replace manual labor in repetitive tasks (such as handling) to improve production efficiency and save production costs. Currently, industrial robots have become highly integrated automation equipment that integrates multidisciplinary technologies such as mechatronics, precision sensors, computers, and artificial intelligence, and are important modern processing and transportation equipment.

[0003] In the application of industrial robots, a zero point is typically set to improve their reliability and stability. The zero point is the initial position of the robot's operating model and serves as the reference for the robot's coordinate system. Without it, the robot has no way of determining its own position. During robot operation, collisions with the workpiece or the environment often cause mechanical position shifts, leading to a loss of the zero position (i.e., a zero position shift). This is primarily caused by relative offsets in the robot's joints, the most common of which is tooth skipping, where gears slip during meshing, causing a zero position shift. Zero point loss can affect the positioning accuracy of the robot's end-point. If zero point loss is not promptly restored, it can lead to collisions and other problems in production applications due to zero point loss.

[0004] In the related technology, the current common method to solve the problem of zero position loss is mainly to use calibration equipment to run a specific trajectory for recalibration. For example, CN113043264A discloses a zero position calibration method for an integrated joint seven-axis robot, which mainly uses a distance sensor and a calibration plate to collect the current posture, and then adjusts the robot to reach two standard postures to complete the calibration. The efficiency is relatively high, but this calibration method may cause the robot to be unable to reach a specific posture due to interference from other equipment. Therefore, this calibration method is not suitable for applications in small spaces.

[0005] Therefore, there is an urgent need for a method for quickly restoring the zero position of an industrial robot. When the zero position of an industrial robot is lost due to a collision, there is no need to move the robot or the surrounding equipment, so that it can quickly restore the zero position even in a small space, greatly shortening the safety accidents or downtime caused by the loss of zero position and improving efficiency. Summary of the Invention

[0006] In order to overcome the problems existing in the related art, the present application provides a method, device, medium and robot for quickly restoring the zero position of a robot. The method, device, medium and robot for quickly restoring the zero position of an industrial robot can quickly restore the zero position even in a small space without moving the robot or nearby equipment when the zero position is lost due to a collision, thereby greatly shortening the safety accidents or downtime caused by the loss of zero position and improving efficiency.

[0007] A first aspect of the present application provides a method for quickly restoring a robot to zero position, comprising the following steps:

[0008] Get the minimum compensation unit of the offset joint;

[0009] Compensate the offset joint according to the minimum compensation unit and determine whether it has reached the zero position;

[0010] If so, compensation is stopped and the robot returns to zero position.

[0011] In one embodiment, the minimum compensation unit includes a minimum compensation angle or a minimum compensation distance; the minimum compensation angle is the angle of rotation of the offset joint when one tooth is engaged; and the minimum compensation distance is the pitch of the screw rod.

[0012] In one embodiment, compensating for a deflected joint includes:

[0013] The offset joints are compensated in order from the joint that affects the most range of motion to the joint that affects the least range of motion.

[0014] In one embodiment, compensating the offset joint according to the minimum compensation unit further includes:

[0015] Set N compensation times according to the minimum compensation unit; after compensating the offset joint N times, determine whether it is over-compensated or under-compensated; if so, adjust the compensation times; if not, compensate the offset joint N times by the minimum compensation unit.

[0016] In one embodiment, after compensating the offset joint N times, it is determined whether it is over-compensated or under-compensated; if so, the number of compensations is adjusted, including:

[0017] After compensating the offset joint N times, determine whether it is over-compensated; if so, adjust the number of compensations to N-1 times;

[0018] After compensating the offset joint N-1 times, determine whether it is over-compensated. If so, adjust the number of compensations to N-2 times, and so on, until there is no over-compensation.

[0019] In one embodiment, after performing N compensations on the offset joint, determining whether it is over-compensated or under-compensated; if so, adjusting the number of compensations, further comprising:

[0020] After compensating the offset joint N times, determine whether it is under-compensated; if so, adjust the number of compensations to N+1 times;

[0021] After compensating the offset joint N+1 times, determine whether it is under-compensated. If so, adjust the number of compensations to N+2 times. If not, determine whether it is over-compensated. If so, adjust the number of compensations to N times. If not, determine the number of compensations to N+1 times, and so on.

[0022] In one embodiment, the method for determining whether overcompensation or undercompensation occurs includes:

[0023] Select any point in the robot operation program as a reference point, with the direction of joint movement during compensation as positive and negative, and determine the relationship between the joint position and the reference point;

[0024] If the position of the joint is in the positive direction of the position of the reference point, it is overcompensated;

[0025] If the position of the joint is in the negative direction of the position of the reference point, it is undercompensated.

[0026] A second aspect of the present application provides a robot zero-position rapid recovery device, comprising:

[0027] Controllers, processors, and memories communicatively connected to each other;

[0028] The memory stores codes that can be executed by the processor, and the controller instructs the processor to execute the codes so that the processor can execute the method for rapid zero-position recovery of the robot as described above.

[0029] A third aspect of the present application provides a non-transitory machine-readable storage medium having executable code stored thereon. When the executable code is executed by a processor of an electronic device, the processor is caused to execute the method for rapid zero-position recovery of the robot as described above.

[0030] A fourth aspect of the present application provides a robot, comprising the above-mentioned robot zero-position rapid recovery device.

[0031] The technical solution provided by the present application may include the following beneficial effects: since the loss of zero point of the robot due to collision is mainly concentrated in small joints, and the number of teeth that jump is not large, when it is used in a handling scenario where the precision requirements are not particularly high, compared with the existing technology of using a fixed position as a reference point to calculate the offset distance or offset angle of the joint for zero point compensation, this method is easily limited by the spatial environment or the position of the adjacent equipment and is not suitable for small spaces. The present application selects any point in the robot's operation program as a reference point, so that when the space is limited, there is no need to move the robot or the adjacent equipment to obtain the reference point, which can be effectively applied to small spaces; at the same time, the present application calculates the minimum compensation unit based on the characteristics of the robot's mechanical structure, and can quickly determine the minimum compensation reference, which can effectively save time and improve efficiency, thereby quickly restoring the robot's zero position and ensuring rapid recovery of the action site.

[0032] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The above and other objects, features and advantages of the present application will become more apparent through a more detailed description of exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0034] Figure 1 1 is a flow chart of a method for rapid zero-position recovery of a robot according to an embodiment of the present application;

[0035] Figure 2 1 is a flow chart showing how initial compensation leads to overcompensation according to an embodiment of the present application;

[0036] Figure 3 This is a flow chart showing the process of initial compensation leading to undercompensation shown in an embodiment of the present application;

[0037] Figure 4 It is a structural schematic diagram of the robot zero-position rapid recovery device shown in an embodiment of the present application. DETAILED DESCRIPTION

[0038] The preferred embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. Instead, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0039] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. As used in this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0040] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0041] At present, during on-site operations, industrial robots often collide with workpieces or the environment, causing the mechanical position to shift and the zero position (zero position) to be lost. The loss of zero point will affect the positioning accuracy of the robot end. Once the zero position is lost and cannot be restored in time, it may cause the application program on the production site to collide with the machine due to the loss of zero point.

[0042] In response to the above problems, an embodiment of the present application provides a method for quickly restoring a robot's zero position. When an industrial robot loses its zero position due to a collision, there is no need to move the robot or nearby equipment, so that it can quickly restore to zero position even in a small space, greatly shortening the safety accidents or downtime caused by the loss of zero position and improving efficiency.

[0043] The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0044] Example 1

[0045] See also Figure 1 , Figure 1 It is a flow chart of a method for rapid zero-position recovery of a robot shown in an embodiment of the present application.

[0046] The method for rapid zero-position recovery of the robot of the present application specifically comprises the following steps:

[0047] S1. Get the minimum compensation unit of the offset joint.

[0048] In S1, the deceleration device information in the offset joint is obtained, and the minimum compensation unit is calculated based on the number of teeth or pitch information in the deceleration device information. The minimum compensation unit is the minimum unit that the joint structure can move. Specifically, the deceleration device information is stored in the memory, and the specific information includes but is not limited to the reduction ratio, the number of teeth of the gear or the pitch of the screw. This information can be determined according to the mechanical structure of the robot. For example, when the mechanical structure is a linear axis structure, the pitch information of the screw is obtained. At this time, the minimum compensation unit is the minimum compensation distance; when the mechanical structure is a gear meshing structure, the number of teeth information of the gear is obtained. At this time, the minimum compensation unit is the minimum compensation angle; when the mechanical structure is a gear and chain matching structure, the pitch information of the gear is obtained; wherein, the minimum compensation angle is the angle of rotation of the offset joint when one tooth is meshed; the minimum compensation distance is the pitch of the screw. For the sake of ease of description, illustratively, this application takes a robot whose mechanical structure is a gear meshing structure as an example.

[0049] After obtaining the number of teeth on the reduction gear, the minimum compensation angle is calculated as follows: minimum compensation angle = 360 degrees / number of meshing teeth per one rotation of the reduction gear. This application calculates the minimum compensation unit based on the mechanical structure of the robot body, quickly determining the minimum compensation benchmark, which can effectively save time and improve efficiency.

[0050] It should be noted that obtaining the deceleration device information and calculating the minimum compensation unit here are performed for each offset joint of the robot. That is, if there are X joints offset, then X minimum compensation angles will be obtained accordingly.

[0051] S2. Compensate the offset joint according to the minimum compensation unit and determine whether it reaches the zero position.

[0052] In S2, the closer the joint is to the robot, the smaller the range of motion of the robot's end-point, while the farther the joint is from the robot, the larger the range of motion. For example, for a six-axis robot, the range of motion affected by one axis is the largest, and the ranges of motion affected by axes two through six decrease in that order. Therefore, when compensating for offset joints, it is preferable to compensate for offset joints in order from the joint with the largest range of motion to the joint with the smallest range of motion. This helps all X joints of the robot return to their zero position more quickly during the compensation process.

[0053] While determining the compensation sequence, set the number of compensations N times based on the minimum compensation unit. After compensating the offset joint N times, determine whether it has reached zero. If so, execute S3. If not, repeat the steps of compensating the offset joints in order from the joint with the largest range of motion to the joint with the smallest range of motion, and determine whether it has reached zero.

[0054] S3. If yes, stop compensation and restore the robot to zero position.

[0055] In S3, when it is determined that the offset joint returns to the zero position, compensation for the offset joint is stopped.

[0056] Furthermore, when compensating for the offset relationship of the robot, set the number of compensations N times according to the minimum compensation unit; after compensating the offset joint N times, three situations will occur. The compensation process will be explained in detail below. Figure 1-Figure 3 , specifically including:

[0057] First case:

[0058] Set N compensation times according to the minimum compensation unit; after compensating the offset joint N times, determine whether it is over-compensated or under-compensated; if not, it means that the compensation angle is exactly the angle of joint offset, then compensate the offset joint with N times the minimum compensation angle. After compensation, the offset joint returns to the zero position; the compensation angle = minimum compensation angle * number of times.

[0059] The second case (overcompensation):

[0060] In actual operation, when the compensation angle of joint A is set to the minimum compensation angle N times for the first time, it may be larger than the actual compensation angle. When it runs to the reference point of the application site, it is found that it has been compensated. In order to solve the above problem, this application provides a detailed solution, such as Figure 2 As shown, N compensation times are set according to the minimum compensation unit; after compensating the offset joint N times, it is determined whether it is over-compensated or under-compensated; if so, the compensation times are adjusted, specifically including:

[0061] After compensating the offset joint N times, determine whether it is over-compensated; if not, compensate the offset joint with N times the minimum compensation angle; if so, adjust the number of compensations to N-1 times, and continue to compensate the offset joint N-1 times; determine again whether it is over-compensated; if so, reduce the number of compensations, and so on, until there is no over-compensation; if the number of compensations is adjusted to N-2 times, determine again whether it is over-compensated; if not, compensate the offset joint with N-2 times the minimum compensation angle at this time, and if so, continue to reduce the number of compensations.

[0062] For example, if the minimum compensation angle of the offset joint A is 8 degrees, the initial compensation times are set to 4 times. At this time, the compensation angle is 32 degrees. When 32 degrees are compensated, it is judged as over-compensation. The compensation times are adjusted to 3 times. At this time, the compensation angle is 24 degrees. When 24 degrees are compensated, it is still judged as over-compensation. The compensation times are adjusted to 2 times, and over-compensation is continued to be judged until there is no over-compensation. For example, when the compensation times are adjusted to 2 times and the compensation angle is 16 degrees, after 16 degrees are compensated, the judgment result is no. At this time, it is determined that the joint A is compensated with 2 minimum compensation angles.

[0063] The third situation (under-compensation situation):

[0064] In actual operation, when the compensation angle of joint B is set to the minimum compensation angle N times for the first time, it may be smaller than the actual compensation angle. When it runs to the reference point of the application site, it is found that the compensation is insufficient. In order to solve the above problem, this application provides a detailed solution, such as Figure 3 As shown, after compensating the offset joint N times, it is determined whether it is under-compensated; if so, the number of compensations is adjusted to N+1 times;

[0065] After compensating the offset joint N+1 times, continue to judge whether it is under-compensated; if so, increase the number of compensations, such as adjusting the number of compensations to N+2 times and then judge again whether it is under-compensated; if not, judge whether it is over-compensated. If so (that is, it is judged to be over-compensated), adjust the number of compensations to N times and determine to compensate the offset joint with the Nth minimum compensation angle. If not, determine to compensate N+1 times and compensate the B joint with the N+1th minimum compensation angle, and so on.

[0066] For example, if the minimum compensation angle of the offset joint B is 8 degrees, the initial compensation times are set to 2 times. At this time, the compensation angle is 16 degrees. When 16 degrees are compensated, it is judged to be under-compensated. The compensation times are adjusted to 3 times. At this time, the compensation angle is 24 degrees. When 24 degrees are compensated, it is still judged to be under-compensated. The compensation times are adjusted to 4 times, and the judgment is continued whether it is under-compensated until it finally reaches the zero position or over-compensation occurs. For example, when the compensation times are adjusted to 4 times and the compensation angle is 32 degrees, after compensating 32 degrees, it is judged that it is under-compensated and the result is no. At this time, it is judged whether it is over-compensated. If so, the compensation times are adjusted to 3 times and the joint B is compensated with the minimum compensation angle of 3 times. If not, the compensation times are determined to be 4 times and the joint B is compensated with the minimum compensation angle of 4 times.

[0067] It should be noted that:

[0068] The method for determining whether over-compensation or under-compensation occurs includes: selecting any point in the robot operation program as a reference point, taking the direction of joint movement during compensation as positive and the opposite as negative, and determining the relationship between the joint position and the reference point;

[0069] If the position of the joint is in the positive direction of the position of the reference point, it is overcompensated;

[0070] If the position of the joint is in the negative direction of the position of the reference point, it is undercompensated.

[0071] In the first embodiment, since the robot loses its zero point due to collision mainly in small joints, and the number of teeth that jump is not large, when it is used in a handling scenario where the precision requirements are not particularly high, compared with the prior art method of using a fixed position as a reference point to calculate the offset distance or offset angle of the joint for zero point compensation, this method is easily limited by the spatial environment or the position of the adjacent equipment and is not suitable for small spaces. The present application selects any point in the robot's operation program as a reference point, so that when the space is limited, there is no need to move the robot or the adjacent equipment to obtain the reference point, which can be effectively applied to small spaces; at the same time, the present application calculates the minimum compensation unit based on the characteristics of the robot's mechanical structure, and can quickly determine the minimum compensation reference, which can effectively save time and improve efficiency, thereby quickly restoring the robot's zero position and ensuring rapid recovery of the action site.

[0072] Example 2

[0073] Corresponding to the aforementioned application function implementation method embodiment, the present application also provides a robot zero-position rapid recovery device and corresponding embodiments.

[0074] Figure 4 It is a structural schematic diagram of the robot zero-position rapid recovery device shown in an embodiment of the present application.

[0075] See also Figure 4 The robot zero-position rapid recovery device includes: a controller 1000, a memory 1010 and a processor 1020, and the controller 1000, the memory 1010 and the processor 1020 are communicatively connected to each other.

[0076] In an embodiment of the present application, the controller can obtain data from the memory through communication methods such as a bus, a serial port, and a network, and instruct the processor to execute the above-mentioned method for rapid zero-position recovery of the robot.

[0077] The processor 1020 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0078] The memory 1010 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. These are primarily used to record factory-related information about the robot, including but not limited to: the robot model, date of manufacture, length of each mechanical link, information about each joint motor (maximum speed, torque, etc.), reduction gear information (reduction ratio, number of teeth, etc.), encoder zero position, encoder position at the last shutdown, etc. The ROM may store static data or instructions required by the processor 1020 or other modules of the computer. The permanent storage device may be a read-write storage device. The permanent storage device may be a non-volatile storage device that retains stored instructions and data even when the computer is powered off. In some embodiments, the permanent storage device utilizes a large-capacity storage device (e.g., a magnetic or optical disk, flash memory) as the permanent storage device. In other embodiments, the permanent storage device may be a removable storage device (e.g., a floppy disk, optical drive). The system memory may be a read-write storage device or a volatile read-write storage device, such as dynamic random access memory. The system memory may store some or all instructions and data required by the processor during operation. In addition, the memory 1010 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and magnetic disks and / or optical disks may also be used. In some embodiments, the memory 1010 may include a removable storage device that can be read and / or written, such as a compact disc (CD), a read-only digital versatile disc (e.g., DVD-ROM, double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-high-density optical disc, a flash memory card (e.g., SD card, mini SD card, Micro-SD card, etc.), a magnetic floppy disk, etc. Computer-readable storage media do not include carrier waves and transient electronic signals transmitted wirelessly or wired.

[0079] The memory 1010 stores executable codes. When the executable codes are processed by the processor 1020 , the processor 1020 may execute part or all of the above-mentioned methods.

[0080] Example 3

[0081] The method according to the present application may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the steps in the above method of the present application.

[0082] Alternatively, the present application can also be implemented as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) on which executable code (or computer program, or computer instruction code) is stored. When the executable code (or computer program, or computer instruction code) is executed by a processor of an electronic device (or electronic device, server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present application.

[0083] Example 4

[0084] An embodiment of the present application also provides a robot equipped with the above-mentioned robot zero-position rapid recovery device, wherein the robot includes a six-joint robot, SCARA, delta and other types of robots. The specific manner in which the robot zero-position rapid recovery device performs operations has been described in detail in the embodiments of the method and will not be elaborated on here.

[0085] The scheme of the present application has been described in detail above with reference to the accompanying drawings. In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. Those skilled in the art should also be aware that the actions and modules involved in the description are not necessarily required for this application. In addition, it is understood that the steps in the method of the embodiment of the present application can be adjusted in sequence, merged and deleted according to actual needs, and the modules in the device of the embodiment of the present application can be merged, divided and deleted according to actual needs.

[0086] Those skilled in the art will further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the application herein may be implemented as electronic hardware, computer software, or combinations of both.

[0087] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems and methods according to multiple embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a part of a module, program segment or code, and the part of the module, program segment or code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0088] The embodiments of the present application have been described above. The above description is illustrative and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or improvements to the technology in the market, or to enable other persons skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method for rapid zero-position recovery of a robot, characterized by: The following steps are involved: Obtaining the minimum compensation unit of the offset joint; the minimum compensation unit includes a minimum compensation angle or a minimum compensation distance; the minimum compensation angle is the angle of rotation of the offset joint when one tooth is engaged; the minimum compensation distance is the pitch of the screw rod; Compensate the offset joint according to the minimum compensation unit and determine whether it has reached the zero position; Select any point in the robot operation program as a reference point, with the direction of joint movement during compensation as positive and negative, and determine the relationship between the joint position and the reference point; If the position of the joint is in the positive direction of the position of the reference point, it is overcompensated; if the position of the joint is in the negative direction of the position of the reference point, it is undercompensated; If so, compensation is stopped and the robot returns to zero position.

2. The method for rapid zero-position recovery of a robot according to claim 1, characterized in that: The compensation for the offset joint includes: The offset joints are compensated in order from the offset joint that affects the most range of motion to the offset joint that affects the least range of motion.

3. The method for rapid zero-position recovery of a robot according to claim 1, characterized in that: The compensating the offset joint according to the minimum compensation unit further includes: Set N compensation times according to the minimum compensation unit; after compensating the offset joint N times, determine whether it is over-compensated or under-compensated; if so, adjust the compensation times; if not, compensate the offset joint N times by the minimum compensation unit; N is an integer greater than 0.

4. The method for rapid zero-position recovery of a robot according to claim 3, characterized in that: After compensating the offset joint N times, determine whether it is over-compensated or under-compensated; If yes, adjust the compensation times, including: After compensating the offset joint N times, determine whether it is over-compensated; if so, adjust the number of compensations to N-1 times; After compensating the offset joint N-1 times, determine whether it is over-compensated. If so, adjust the number of compensations to N-2 times, and so on, until there is no over-compensation.

5. The method for rapid zero-position recovery of a robot according to claim 3, characterized in that: After compensating the offset joint N times, determine whether it is over-compensated or under-compensated; If yes, adjust the number of compensations, including: After compensating the offset joint N times, determine whether it is under-compensated; if so, adjust the number of compensations to N+1 times; After compensating the offset joint N+1 times, determine whether it is under-compensated. If so, adjust the number of compensations to N+2 times. If not, determine whether it is over-compensated. If so, adjust the number of compensations to N times. If not, determine the number of compensations to N+1 times, and so on.

6. A robot zero position rapid recovery device, characterized by: include: Controllers, processors, and memories communicatively connected to each other; The memory stores codes that can be executed by the processor, and the controller instructs the processor to execute the codes so that the processor can execute the method for rapid zero-position recovery of the robot as described in any one of claims 1 to 5.

7. A non-transitory machine-readable storage medium having executable code stored thereon, which, when executed by a processor of an electronic device, causes the processor to execute the method for rapid zero-position recovery of a robot as described in any one of claims 1 to 5.

8. A robot, characterized in that: It includes the robot zero-position rapid recovery device as described in claim 6.

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