Torque dynamic compensation method, device, system, equipment and medium for rotating shaft

Abstract

The present invention discloses a torque dynamic compensation method, device, equipment and medium for a rotating shaft, the method comprising: if a brake signal is received, controlling a dynamic torque compensation mechanism to brake a mechanical arm with a maximum torque value; sending an adjustment instruction to the dynamic torque compensation mechanism to adjust the brake to obtain a torque change value and detect the value change of an encoder in real time to obtain an adjusted encoder value; judging whether the pulse change of the adjusted encoder value reaches a dynamic equilibrium state; if the pulse change of the adjusted encoder value reaches a dynamic equilibrium state, receiving the torque change value; adjusting the starting torque value according to the torque change value to complete dynamic torque compensation. The present invention improves the accuracy of the torque output of the torque dynamic compensation device, so that the torque dynamic compensation device maintains zero position control at the moment of first enabling, thereby reducing the phenomenon of falling or shaking at the end of the first machine arm, and protecting the fixture or load at the end of the first machine arm.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to a method, device, system, equipment and medium for dynamic torque compensation of a rotating shaft. Background Art

[0002] At present, industrial robots have been widely used in various industries. In practical applications, robots will perform complex process actions, and the loads that robots need to bear during the execution of complex process actions are also constantly changing.

[0003] At the moment of first enabling, the robot does not know the size of the end load, and cannot accurately output the corresponding torque to maintain zero position control. At this time, the end of the robot will fall and shake, which can easily cause damage to the fixture or workpiece at the end of the robot, and in severe cases, even cause damage to the robot.

[0004] Therefore, the accuracy of the robot's torque output needs to be improved so that the robot can maintain zero position control when it is first enabled, thereby reducing the phenomenon of the robot's end falling or shaking and protecting the fixture or workpiece at the robot's end. Summary of the invention

[0005] The embodiments of the present invention provide a method, device, system, equipment and medium for dynamic torque compensation of a rotating axis, which aims to solve the problem in the prior art that the robot cannot accurately perform the corresponding torque output to maintain zero position control, thereby causing damage to the fixture or workpiece at the end of the robot, thereby improving the accuracy of the robot's torque output and extending the service life of the fixture or workpiece at the end of the robot.

[0006] In a first aspect, an embodiment of the present invention provides a method for dynamic torque compensation of a rotating shaft, which is applied to a controller of a torque dynamic compensation device to complete dynamic torque compensation. The torque dynamic compensation device includes a mechanical arm, a dynamic torque compensation mechanism and an encoder. A load is connected to the end of the mechanical arm. The dynamic torque compensation mechanism is arranged at the shaft joint of the mechanical arm. The dynamic torque compensation mechanism includes a brake. The encoder establishes a network connection with the controller to realize the transmission of data information. The mechanical arm and the dynamic torque compensation mechanism are both connected to the controller. The method includes:

[0007] If a brake signal is received, the dynamic torque compensation mechanism is controlled to brake the mechanical arm with a maximum torque value;

[0008] Sending an adjustment instruction to the dynamic torque compensation mechanism to adjust the brake to obtain a torque change value and detecting the value change of the encoder in real time to obtain an adjustment encoder value;

[0009] Determining whether the pulse change of the adjustment encoder value reaches a dynamic equilibrium state;

[0010] If the pulse change of the adjusting encoder value is to achieve a dynamic equilibrium state, receiving the torque change value;

[0011] The starting torque value is adjusted according to the torque change value to complete dynamic torque compensation.

[0012] In the above method, optionally, the dynamic torque compensation mechanism further includes a torque cable and an adjusting motor, the torque cable is respectively connected to the brake and the output end of the adjusting motor, and the adjusting of the brake to obtain the torque change value includes:

[0013] Starting the regulating motor to control the output end of the regulating motor to drive the torque cable to rotate, thereby dynamically adjusting the tightness of the brake;

[0014] If a balance signal between the brake and the gravity on the shaft joint is received, the torque change value is collected.

[0015] In the above method, optionally, the step of judging whether the pulse change of the adjusting encoder value reaches a dynamic equilibrium state comprises:

[0016] Determine whether the value change of the encoder reaches the preset pulse number in the pulse change judgment condition;

[0017] If the value change of the encoder reaches the preset pulse number, it is determined that the pulse change of the adjustment encoder value reaches a dynamic equilibrium state.

[0018] In the above method, optionally, adjusting the starting torque value according to the torque change value to complete dynamic torque compensation includes:

[0019] Analyze the torque change value to obtain the load change;

[0020] A corresponding adjustment instruction is generated according to the change to adjust the starting torque value.

[0021] In the above method, optionally, generating a corresponding adjustment instruction according to the change to adjust the starting torque value includes:

[0022] The change is used to calculate the minimum output torque value of the dynamic gravity to stop the falling and shaking of the mechanical arm when it is restarted, and the minimum output torque value is the maximum torque value minus the torque change value;

[0023] Generate a corresponding adjustment instruction according to the output minimum torque value;

[0024] The starting torque value is adjusted to be consistent with the output minimum torque value according to the adjustment instruction.

[0025] In the above method, optionally, the real-time monitoring of the value change of the encoder to obtain the adjusted encoder value includes:

[0026] If a brake signal is received, a real-time encoder value during the brake process is collected;

[0027] If a brake completion signal is received, the end encoder value when the brake is completed is collected to obtain the value change of the encoder;

[0028] The value change of the encoder is analyzed to obtain the adjustment encoder value.

[0029] In a second aspect, an embodiment of the present invention provides a torque dynamic compensation device for a rotating shaft, wherein the torque dynamic compensation device uses the steps of the torque dynamic compensation method for a rotating shaft as described in any embodiment of the first aspect above, and the torque dynamic compensation device includes the mechanical arm, the dynamic torque compensation mechanism and the encoder; the mechanical arm includes a first arm, a second arm and a base, and the two ends of the second arm are respectively rotatably connected to the base and the first arm to form the shaft joint; the dynamic torque compensation mechanism includes the brake brake, the torque cable, the adjustment motor, the rotor part and the motor body, the motor body is arranged at the shaft joint, and the brake brake, the torque cable, the rotor part and the adjustment motor are respectively arranged on the motor body; the brake brake includes an upper brake plate and a lower brake plate, the upper brake plate and the lower brake plate are respectively rotatably connected to the rotor part, and the two ends of the torque cable are respectively connected to the output ends of the brake brake and the adjustment motor.

[0030] In a third aspect, an embodiment of the present invention provides a system for dynamic torque compensation of a rotating shaft, comprising:

[0031] A brake module, used for receiving a first brake signal, and controlling the dynamic torque compensation mechanism to brake the mechanical arm with a maximum torque value;

[0032] A torque adjustment module, used for adjusting the brake to obtain a torque change value and detecting a value change of the encoder in real time to obtain an adjustment encoder value;

[0033] A judging module, for judging whether the pulse change of the adjusting encoder value reaches a dynamic equilibrium state;

[0034] A receiving module, configured to receive the torque change value if the pulse change of the encoder value is adjusted to achieve a dynamic equilibrium state;

[0035] The torque compensation module is used to adjust the starting torque value according to the torque change value to complete dynamic torque compensation.

[0036] In a fourth aspect, an embodiment of the present invention further provides a device for dynamic torque compensation of a rotating shaft, which includes a controller, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0037] Memory, used to store computer programs;

[0038] The controller is used to implement the steps of the torque dynamic compensation method of the rotating shaft described in any embodiment of the first aspect when executing the program stored in the memory.

[0039] In a fifth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for dynamic torque compensation of a rotating shaft as described in any one of the embodiments of the first aspect.

[0040] Through the above scheme, it can be known that the present invention provides a method, device, system, equipment and medium for dynamic torque compensation of a rotating shaft. If a brake signal is received, the dynamic torque compensation mechanism is controlled to brake the mechanical arm with the maximum torque value; an adjustment instruction is sent to the dynamic torque compensation mechanism to adjust the brake to obtain a torque change value and detect the numerical change of the encoder in real time to obtain an adjusted encoder value; it is determined whether the pulse change of the adjusted encoder value reaches a dynamic equilibrium state; if the pulse change of the adjusted encoder value reaches a dynamic equilibrium state, the torque change value is received; the starting torque value is adjusted according to the torque change value to complete dynamic torque compensation. The embodiment of the present invention improves the accuracy of the torque output of the torque dynamic compensation device, so that the torque dynamic compensation device maintains zero position control at the moment of first enabling, thereby reducing the phenomenon of falling or shaking at the end of the first machine arm, and protecting the fixture or load at the end of the first machine arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0042] Figure 1 A schematic diagram of the overall structure of a torque dynamic compensation device provided by an embodiment of the present invention;

[0043] Figure 2A schematic structural diagram of a dynamic torque compensation mechanism in a torque dynamic compensation device provided in an embodiment of the present invention;

[0044] Figure 3 A schematic flow chart of a method for dynamic torque compensation of a rotating shaft provided in an embodiment of the present invention;

[0045] Figure 4 A schematic diagram of an application scenario of the torque dynamic compensation method of a rotating shaft provided by an embodiment of the present invention;

[0046] Figure 5 A block diagram of a torque dynamic compensation system for a rotating shaft provided by an embodiment of the present invention;

[0047] Figure 6 A block diagram of a torque adjustment module provided by an embodiment of the present invention;

[0048] Figure 7 A block diagram of a judgment module provided by an embodiment of the present invention;

[0049] Figure 8 A block diagram of a torque compensation module provided by an embodiment of the present invention;

[0050] Fig. 9 A block diagram of a device for dynamic torque compensation of a rotating shaft provided in an embodiment of the present invention.

[0051] Explanation of the reference numerals: 1. Robotic arm; 11. First arm; 12. Second arm; 13. Base; 14. Axial joint; 2. Dynamic torque compensation mechanism; 21. Torque cable; 22. Brake; 221. Upper brake plate; 222. Lower brake plate; 23. Adjusting motor; 24. Rotor; 25. Motor body; 3. Load. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] In order to solve the problem in the prior art that the robot cannot accurately perform the corresponding torque output to maintain zero position control, thereby causing damage to the fixture or workpiece at the end of the robot, an embodiment of the present invention provides a torque dynamic compensation device for a rotating axis. Figure 1 , Figure 1The overall structure diagram of the torque dynamic compensation device provided by the embodiment of the present invention is as follows: Figure 2 A schematic diagram of the structure of the dynamic torque compensation mechanism in the torque dynamic compensation device provided in an embodiment of the present invention. The torque dynamic compensation device includes a robot arm 1, a dynamic torque compensation mechanism 2 and an encoder. Among them, the robot arm 1 is used to connect the load 3 to perform complex process actions, and the dynamic torque compensation mechanism 2 is used to perform dynamic torque compensation on the robot arm 1; the encoder has the advantages of high control quality and high precision, and can withstand strong vibrations. Even if it is used in a strong electromagnetic interference environment, it does not affect the quality or safety of data transmission. At the same time, the encoder continuously provides feedback signals to the servo motor of the robot's motion axis, thereby ensuring the quality and precision of the robot's processing.

[0054] Specifically, the robot arm 1 includes a first arm 11, a second arm 12 and a base 13. The base 13 is fixedly installed on a horizontal ground. In other embodiments, the base 13 can also be fixed on other equipment; one end of the second arm 12 is rotatably connected to the top of the base 13 to form an axis joint 14, and one end of the second arm 12 away from the base 13 is rotatably connected to one end of the first arm 11 to form an axis joint 14; one end of the first arm 11 away from the second arm 12 is used to clamp the load 3 to perform complex process actions. In other embodiments, the connection method between the first arm 11 and the load 3 can also be a hook connection, a snap connection, a flange connection, etc.

[0055] See also Figure 2 The dynamic torque compensation mechanism 2 includes a brake 22, a torque cable 21, an adjustment motor 23, a rotor 24 and a motor body 25. In this embodiment, two motor bodies 25 are provided, and the two motor bodies 25 are respectively installed at two shaft joints 14. The brake 22, the torque cable 21, the rotor 24 and the adjustment motor 23 are respectively arranged on the motor body 25. Specifically, the rotor 24 is rotatably connected to one end of the motor body 25; the brake 22 includes an upper brake plate 221 and a lower brake plate 222, and the upper brake plate 221 and the lower brake plate 222 are respectively located at the upper and lower sides of the rotor 24, and the upper brake plate 221 and the lower brake plate 222 are respectively slidably connected to the motor body 25 near one end of the motor body 25, and the rotor 24 is respectively rotatably connected to the side opposite to the upper brake plate 221 and the lower brake plate 222.

[0056] Furthermore, in the present embodiment, two groups of adjusting motors 23 and torque cables 21 are provided, wherein the output ends of the two adjusting motors 23 are respectively arranged at the upper and lower sides of one end of the motor body 25 in a centrally symmetrical manner, wherein the two ends of one group of torque cables 21 are respectively connected to the upper brake plate 221 and the output end of the upper adjusting motor 23, and the two ends of the other group of torque cables 21 are respectively connected to the lower brake plate 222 and the output end of the lower adjusting motor 23. When the torque dynamic compensation device receives a brake signal, the controller controls the dynamic torque compensation mechanism 2 to perform brake braking at the maximum torque value. During the brake braking process, the controller controls the adjusting motor 23 to start, so as to drive the output ends of the two adjusting motors 23 to rotate, and then the output ends of the two adjusting motors 23 respectively drive the two groups of torque cables 21 to rotate, so as to adjust the tightness of the upper brake plate 221 and the lower brake plate 222 at the two shaft joints 14.

[0057] In another aspect, an embodiment of the present invention provides a method for dynamic torque compensation of a rotating shaft. Figure 3 and Figure 4 , Figure 3 A schematic flow chart of a method for dynamic torque compensation of a rotating shaft provided in an embodiment of the present invention; Figure 4 A schematic diagram of an application scenario of the torque dynamic compensation method of a rotating shaft provided in an embodiment of the present invention.

[0058] The torque dynamic compensation method of the rotating shaft is applied to the controller of the torque dynamic compensation device. The torque dynamic compensation method of the rotating shaft is executed by the application software installed in the controller. The torque dynamic compensation device is also equipped with a wireless signal transmitter. The controller establishes a network connection with the encoder and the wireless signal transmitter to realize the transmission of data information. The mechanical arm 1 establishes a network connection with the dynamic torque compensation mechanism 2 through the controller. The controller is a component used to control each unit module in the torque dynamic compensation device, such as a control circuit board with an MCU chip in the torque dynamic compensation device. The wireless signal transmitter can establish a network connection with an external torque dynamic compensation device to wirelessly transmit information; the encoder is used to record data and feedback signals to the controller, and the controller can receive feedback signals from the encoder and control the mechanical arm 1 and the dynamic torque compensation mechanism 2.

[0059] The specific implementation process of the torque dynamic compensation method for the rotating shaft provided by the present invention is described in detail below. Figure 3 As shown, the method includes steps S110 to S150.

[0060] S110 , if a brake signal is received, control the dynamic torque compensation mechanism 2 to brake the robot arm 1 with a maximum torque value.

[0061] If a brake signal is received, the dynamic torque compensation mechanism 2 is controlled to brake the robot arm 1 with the maximum torque value. The controller can receive a brake signal, which can be input by the user (such as the user sending a signal to the controller through a remote control or a start switch). After the controller receives the brake signal input by the user, in order to make the robot arm 1 absolutely stop, the controller controls the adjustment motor 23 to start, so as to drive the output ends of the two adjustment motors 23 to rotate, and then the output ends of the two adjustment motors 23 respectively drive the two sets of torque cables 21 to rotate, so as to tighten the upper brake plate 221, the rotor part 24 and the lower brake plate 222 at the two shaft joints 14, so as to realize the dynamic torque compensation mechanism 2 to brake the robot arm 1 with the maximum torque value, and the maximum torque value is also constant. At the same time, the controller records the encoder value when the brake is completed.

[0062] Since the maximum torque value of the torque compensation mechanism when braking the mechanical arm 1 is constant, the optimal braking torque of each shaft joint 14 after connecting the load 3 cannot be measured at this time. When the torque dynamic compensation device is started again, the controller cannot output the optimal operating torque to each shaft joint 14 of the mechanical arm 1. Therefore, at this time, the braking torque of each shaft joint 14 of the mechanical arm 1 needs to be dynamically adjusted through the torque compensation mechanism.

[0063] If the dynamic torque compensation mechanism 2 has completed the holding brake on the robot arm 1, proceed to the next step.

[0064] S120, sending an adjustment instruction to the dynamic torque compensation mechanism 2 to adjust the brake 22 to obtain a torque change value and detecting the value change of the encoder in real time to obtain an adjustment encoder value.

[0065] After the controller records the encoder value when the brake is completed, it sends an adjustment instruction to the dynamic torque compensation mechanism 2 to adjust the brake 22 to obtain the torque change value. In a specific embodiment, step S120 includes the steps of: starting the adjustment motor 23, and the output end of the adjustment motor 23 drives the torque cable 21 to rotate to dynamically adjust the tightness of the brake 22; if a balance signal of the gravity between the brake 22 and the shaft joint 14 is received, the torque change value is collected.

[0066] Here, the controller controls the adjustment motor 23 to start, so as to drive the output ends of the two adjustment motors 23 to rotate, and then the output ends of the two adjustment motors 23 respectively drive the two sets of torque cables 21 to rotate, so as to adjust the tightness of the upper brake plate 221, the rotor part 24 and the lower brake plate 222 at the two shaft joints 14 according to actual needs. When the controller receives the balance signal of the gravity of the brake 22 and the shaft joint 14, the controller controls the output end of the adjustment motor 23 to stop rotating, and at the same time, the controller collects the torque change value when the gravity of the brake 22 and the shaft joint 14 is balanced and the torque balance value of each shaft joint 14. In this regard, the torque change value is the change amount adjusted by the adjustment motor 23 and the torque cable 21 to adjust the torque of the brake 22 after the mechanical arm 1 completes the braking with constant and maximum braking, and when the torque of the brake 22 is adjusted to just overcome the gravity balance at the shaft joint 14, the process.

[0067] At the same time, the controller detects the value change of the encoder in real time to obtain the adjustment encoder value. In a specific embodiment, step S120 also includes the steps of: if a brake signal is received, collecting the real-time encoder value during the brake process; if a brake completion signal is received, collecting the end encoder value when the brake is completed to obtain the value change of the encoder; analyzing the value change of the encoder to obtain the adjustment encoder value.

[0068] When the controller receives the brake signal in step S110, the real-time encoder value in the brake process is collected; when the controller receives the brake completion signal, the end encoder value when the brake is completed is collected. The controller collects the encoder values ​​of each axis joint 14 of the robot arm 1 in real time during the brake process and when the brake is completed, records the value changes of the encoder, and then analyzes the value changes of the encoder through the preset program in the controller to obtain the adjustment encoder value.

[0069] S130, determining whether the pulse change of the adjustment encoder value reaches a dynamic equilibrium state.

[0070] In a specific embodiment, step S130 includes the steps of: determining whether the numerical change of the encoder reaches a preset number of pulses in the pulse change judgment condition; if the numerical change of the encoder reaches the preset number of pulses, determining that the pulse change of the adjustment encoder value reaches a dynamic equilibrium state.

[0071] In this embodiment, the preset number of pulses in the judgment condition is 10 pulse changes. In other embodiments, the preset number of pulses in the judgment condition can also be 5, 15 or 20 pulse changes, etc. In the process of adjusting the motor 23 and the torque cable 21 to adjust the torque of the brake 22 in real time, when the encoder has 10 pulse changes, the controller determines that the pulse change of the adjustment encoder value reaches a dynamic equilibrium state, and the controller obtains the torque change value when the equilibrium state is reached.

[0072] S140: If the pulse change of the adjustment encoder value reaches a dynamic equilibrium state, the torque change value is received.

[0073] When the pulse change of the adjustment encoder value reaches a dynamic balance state, the controller receives a dynamic balance signal, and then a preset program in the controller receives the torque change value obtained by the controller.

[0074] S150. Adjust the starting torque value according to the torque change value to complete dynamic torque compensation.

[0075] In a specific embodiment, step S150 includes the steps of: analyzing the torque change value to obtain the change of the load 3; generating corresponding adjustment instructions according to the change to adjust the starting torque value. Further, the step of "generating corresponding adjustment instructions according to the change to adjust the starting torque value" includes the steps of: using the change to calculate the output minimum torque value of the dynamic gravity to stop falling and shaking when the robot arm 1 restarts, the output minimum torque value is the maximum torque value minus the torque change value; generating corresponding adjustment instructions according to the output minimum torque value; adjusting the starting torque value to be consistent with the output minimum torque value according to the adjustment instruction.

[0076] Here, the preset program in the controller analyzes the torque change value, and at the same time receives the weight data of the newly replaced load 3 after the torque dynamic compensation device stops braking, so as to obtain the change between the old and new loads 3, and obtains the output minimum torque value for dynamic gravity to stop falling and shaking when the robot arm 1 is restarted by subtracting the torque change value from the maximum torque value, and then generates an adjustment instruction; the controller adjusts the starting torque value to be consistent with the output minimum torque value according to the adjustment instruction to perform dynamic torque compensation, thereby solving the problem of the robot arm 1 not nodding, the load 3 falling, etc. caused by the output torque imbalance due to the unknown new load 3 when the torque dynamic compensation device is restarted, thereby protecting the fixture or workpiece at the end of the first arm 11.

[0077] Corresponding to the above-mentioned torque dynamic compensation method for a rotating shaft, an embodiment of the present invention further provides a system for torque dynamic compensation for a rotating shaft, which can be configured in a controller of a torque dynamic compensation device for a rotating shaft, and the torque dynamic compensation system is used to execute any embodiment of the above-mentioned torque dynamic compensation method for a rotating shaft. Specifically, please refer to Figure 5 , Figure 5 A block diagram of a torque dynamic compensation system provided by an embodiment of the present invention.

[0078] like Figure 5 As shown, the torque dynamic compensation system includes a brake module, a torque adjustment module, a judgment module, a receiving module and a torque compensation module.

[0079] The brake module is used to receive the first brake signal and control the dynamic torque compensation mechanism 2 to brake the mechanical arm 1 with a maximum torque value.

[0080] The torque adjustment module is used to adjust the brake 22 to obtain a torque change value and detect the value change of the encoder in real time to obtain an adjustment encoder value.

[0081] In a specific embodiment, Figure 6 As shown, the torque adjustment module includes the following sub-units: a first adjustment unit, used to start the adjustment motor 23, the output end of the adjustment motor 23 drives the torque cable 21 to rotate, so as to dynamically adjust the tightness of the brake 22; a first acquisition unit, used to collect the torque change value and the torque balance value of each shaft joint 14 if a balance signal of the gravity exerted on the brake 22 and the shaft joint 14 is received; a second acquisition unit, used to collect the real-time encoder value during the braking process if a brake signal is received; a third acquisition unit, used to collect the end encoder value when the brake is completed if a brake completion signal is received, so as to obtain the numerical change of the encoder; a parsing unit, used to parse the numerical change of the encoder to obtain the adjustment encoder value.

[0082] The judging module judges whether the pulse variation of the adjusting encoder value reaches a dynamic equilibrium state.

[0083] In a specific embodiment, Figure 7 As shown, the judgment module includes the following sub-units: a first judgment unit, used to judge whether the numerical change of the encoder reaches the preset pulse number in the pulse change judgment condition; a second judgment unit, used to judge whether the pulse change of the adjustment encoder value reaches a dynamic equilibrium state if the numerical change of the encoder reaches the preset pulse number.

[0084] The receiving module is used to receive the torque change value if the pulse change of the adjustment encoder value reaches a dynamic equilibrium state.

[0085] The torque compensation module is used to adjust the starting torque value according to the torque change value to complete dynamic torque compensation.

[0086] In a specific embodiment, Figure 8 As shown, the torque compensation module includes the following subunits: a second parsing unit, used to parse the torque change value to obtain the change of the load 3; a calculation unit, used to calculate the output minimum torque value of the dynamic gravity to stop falling and shaking when the mechanical arm 1 is restarted by using the change, and the output minimum torque value is the maximum torque value minus the torque change value, so as to generate the adjustment instruction; a second adjustment unit, used to generate a corresponding adjustment instruction according to the change, so as to adjust the starting torque value to be consistent with the output minimum torque value;

[0087] like Fig. 9 As shown, an embodiment of the present invention further provides a device for dynamic torque compensation of a rotating shaft, comprising a controller, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; in one embodiment of the present invention, the memory is used to store computer programs; the controller is used to implement the steps of the method for dynamic torque compensation of a rotating shaft provided by any one of the aforementioned method embodiments when executing the program stored in the memory.

[0088] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method for dynamic torque compensation of a rotating shaft provided in any one of the aforementioned method embodiments are implemented.

[0089] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device for torque dynamic compensation of a rotating shaft that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also include elements inherent to such process, method, article or device for torque dynamic compensation of a rotating shaft. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device for torque dynamic compensation of a rotating shaft that includes the elements.

[0090] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for dynamic torque compensation of a rotating shaft, applied to a controller of a torque dynamic compensation device to complete dynamic torque compensation, It is characterized in that The torque dynamic compensation device comprises a mechanical arm, a dynamic torque compensation mechanism and an encoder provided at the shaft joint of the mechanical arm, a load is connected to the end of the mechanical arm, the dynamic torque compensation mechanism comprises a brake, a torque cable and an adjustment motor, the torque cable is respectively connected to the brake and the output end of the adjustment motor, and the method comprises: If a brake signal is received, the dynamic torque compensation mechanism is controlled to brake the mechanical arm with a maximum torque value; Sending an adjustment instruction to the dynamic torque compensation mechanism to adjust the brake to obtain a torque change value and detecting the value change of the encoder in real time to obtain an adjustment encoder value; Determining whether the pulse change of the adjustment encoder value reaches a dynamic equilibrium state; If the pulse change of the adjustment encoder value has reached a dynamic equilibrium state, receiving the torque change value; Analyze the torque change value to obtain the load change; The change is used to calculate the minimum output torque value of the dynamic gravity to stop the falling and shaking of the mechanical arm when it is restarted, and the minimum output torque value is the maximum torque value minus the torque change value; Generate a corresponding adjustment instruction according to the output minimum torque value; adjusting the starting torque value to be consistent with the output minimum torque value according to the adjustment instruction; The step of adjusting the brake to obtain a torque change value includes: Starting the regulating motor to control the output end of the regulating motor to drive the torque cable to rotate, thereby dynamically adjusting the tightness of the brake; If a balance signal between the brake and the gravity on the shaft joint is received, the torque change value is collected.

2. The method for dynamic torque compensation of a rotating shaft according to claim 1, It is characterized in that The step of judging whether the pulse change of the adjusting encoder value reaches a dynamic equilibrium state comprises: Determine whether the value change of the encoder reaches the preset pulse number in the pulse change judgment condition; If the value change of the encoder reaches the preset pulse number, it is determined that the pulse change of the adjustment encoder value reaches a dynamic equilibrium state.

3. The method for dynamic torque compensation of a rotating shaft according to claim 1, It is characterized in that The real-time detection of the value change of the encoder to obtain the adjusted encoder value includes: If a brake signal is received, a real-time encoder value during the brake process is collected; If a brake completion signal is received, the end encoder value when the brake is completed is collected to obtain the value change of the encoder; The value change of the encoder is analyzed to obtain the adjustment encoder value.

4. A torque dynamic compensation device for a rotating shaft, It is characterized in that The torque dynamic compensation device uses the steps of the torque dynamic compensation method of the rotating shaft as described in any one of claims 1 to 3; The mechanical arm comprises a first arm, a second arm and a base, and two ends of the second arm are rotatably connected to the base and the first arm respectively to form the shaft joint; The dynamic torque compensation mechanism further includes a rotor part and a motor body, wherein the motor body is arranged at the shaft joint, and the brake, the torque cable, the rotor part and the regulating motor are respectively arranged on the motor body; The brake holding brake comprises an upper brake plate and a lower brake plate, and the upper brake plate and the lower brake plate are respectively rotatably connected to the rotor part.

5. A system for dynamic torque compensation of a rotating shaft, the system being installed in a controller of a torque dynamic compensation device to perform dynamic torque compensation, the system executing the method according to any one of claims 1 to 3, Features ； A network connection is established to realize the transmission of data information. The mechanical arm and the dynamic torque compensation mechanism are connected to the network through the controller. The system includes: A brake module, used for receiving a first brake signal, and controlling the dynamic torque compensation mechanism to brake the mechanical arm with a maximum torque value; A torque adjustment module, used for adjusting the brake to obtain a torque change value and detecting a value change of the encoder in real time to obtain an adjustment encoder value; A judging module, for judging whether the pulse change of the adjusting encoder value reaches a dynamic equilibrium state; A receiving module, configured to receive the torque change value if the pulse change of the adjustment encoder value reaches a dynamic equilibrium state; The torque compensation module is used to adjust the starting torque value according to the torque change value to complete dynamic torque compensation.

6. A device for dynamic torque compensation of a rotating shaft, It is characterized in that The device includes a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory, used to store computer programs; The controller is used to implement the steps of the torque dynamic compensation method of the rotating shaft as described in any one of claims 1 to 3 when executing the program stored in the memory.

7. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the steps of the torque dynamic compensation method of a rotating shaft according to any one of claims 1 to 3 are implemented.

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