Transmission equipment, debugging methods, robots and storage media

Abstract

This application relates to the field of robotics technology and provides a transmission device, a debugging method, a robot, and a storage medium. The debugging method controls the input shaft to rotate a preset number of revolutions and records the rotation angles of the input and output shafts. Combined with the gear ratio, a false angle can be obtained. The false angle characterizes the transmission error between the input and output shafts. By resetting the input shaft according to the false angle, the driving gear connected to the input shaft and the driven gear connected to the output shaft are precisely engaged, eliminating the false position between the driving and driven gears, thereby eliminating the transmission error between the input and output shafts. Furthermore, when controlling the robot's movement, the robot's torque can be accurately adjusted to improve the control precision.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and in particular relates to a transmission device, debugging method, robot, and storage medium. Background Technology

[0002] As a new type of robot, the robot dog has the body structure of a quadruped. Compared with traditional wheeled robots, tracked robots and humanoid robots, it has excellent controllable balance and terrain adaptability. More and more research institutions and robot companies are starting to develop robot dogs.

[0003] The power system of a robot dog consists of an electric motor and a reducer. The reducer is used to reduce the motor speed to increase torque. Currently, robot dog manufacturers usually use planetary gear sets as reducers. A smaller sun gear can drive a larger ring gear or planet carrier to achieve the effect of speed reduction and torque increase. However, there is tooth backlash between the sun gear and the planet carrier, or between the planet carrier and the ring gear, in the planetary reducer. This makes it easy to produce errors when adjusting the torque of the robot dog, resulting in a decrease in the accuracy of controlling the robot dog's movement. Summary of the Invention

[0004] In view of this, embodiments of this application provide a transmission device, a debugging method, a robot, and a storage medium to solve the problem that errors are easily generated when adjusting the torque of a robot dog, resulting in a decrease in the accuracy of controlling the robot dog's movement.

[0005] The first aspect of this application provides a method for debugging a transmission device, including:

[0006] Control the input shaft to rotate a preset number of revolutions;

[0007] When the input shaft rotates, the rotation angle of the input shaft is recorded by the first encoder, and the rotation angle of the output shaft is recorded by the second encoder;

[0008] The virtual angle is obtained based on the rotation angle of the input shaft, the rotation angle of the output shaft, and the transmission ratio of the gear set. The virtual angle is used to characterize the transmission error between the input shaft and the output shaft.

[0009] The input shaft is reset according to the false angle to eliminate the transmission error between the input shaft and the output shaft.

[0010] The first aspect of this application provides a method for debugging a transmission device. By controlling the input shaft to rotate a preset number of revolutions and recording the rotation angles of the input shaft and the output shaft, and combining this with the gear ratio, a false angle can be obtained. The false angle is used to characterize the transmission error between the input shaft and the output shaft. By resetting the input shaft according to the false angle, the driving gear connected to the input shaft and the driven gear connected to the output shaft are made to mesh precisely, thereby eliminating the false position between the driving gear and the driven gear, thus eliminating the transmission error between the input shaft and the output shaft. In turn, when controlling the robot's movement, the robot's torque can be accurately adjusted to improve the control accuracy of the robot.

[0011] A second aspect of this application provides a transmission device, including a gear set, a motor, and a controller. The gear set includes an input shaft, an output shaft, a driving gear, a driven gear, a first encoder, and a second encoder. The input shaft is fixed to the gear shaft of the driving gear, the output shaft is fixed to the gear shaft of the driven gear, the driving gear meshes with the driven gear, the first encoder is fixed to the input shaft, and the second encoder is fixed to the output shaft.

[0012] The input shafts of the motor and the gear set are connected;

[0013] The controller is connected to the motor, the first encoder, and the second encoder respectively;

[0014] The controller is used for:

[0015] The input shaft is controlled to rotate a preset number of revolutions by the motor;

[0016] When the input shaft rotates, the rotation angle of the input shaft is recorded by the first encoder, and the rotation angle of the output shaft is recorded by the second encoder;

[0017] The virtual angle is obtained based on the rotation angle of the input shaft, the rotation angle of the output shaft, and the transmission ratio of the gear set. The virtual angle is used to characterize the transmission error between the input shaft and the output shaft.

[0018] The motor is controlled to reset the input shaft based on the virtual angle, so as to eliminate the transmission error between the input shaft and the output shaft.

[0019] A third aspect of the present application provides a robot, including a housing, a processor, a plurality of movable joints, and at least one of the transmission devices described in the second aspect above;

[0020] The processor, the plurality of movable joints, and at least one of the transmission devices are disposed within the housing. The output shaft of each transmission device is connected to at least one of the movable joints, and the processor is connected to the controller of each transmission device.

[0021] The transmission device is used to control the movement of at least one of the connected movable joints;

[0022] The processor is used to generate control signals and send the control signals to the controller of each of the transmission devices.

[0023] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the debugging method provided in the first aspect of this application.

[0024] It is understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the structure of the transmission device provided in the embodiments of this application;

[0027] Figure 2 This is a schematic diagram of the first structure of the gear set provided in the embodiments of this application;

[0028] Figure 3 This is a schematic diagram of a second structure of the gear set provided in the embodiments of this application;

[0029] Figure 4 This is a schematic diagram of the structure of the robot provided in the embodiments of this application;

[0030] Figure 5 This is a schematic flowchart of the first type of debugging method provided in the embodiments of this application;

[0031] Figure 6 This is a schematic diagram of the second type of debugging method provided in the embodiments of this application;

[0032] Figure 7 This is a schematic diagram of the third type of debugging method provided in the embodiments of this application;

[0033] Figure 8 These are graphs showing the functional relationship between the first rotation angle and the second rotation angle of the input shaft and time, and the functional relationship between the first rotation angle and the second rotation angle of the output shaft and time, provided in the embodiments of this application.

[0034] Figure 9 These are the functional relationship graphs of the first virtual angle and time, and the second virtual angle and time, provided in the embodiments of this application.

[0035] Figure 10 This is a schematic diagram showing the difference between the first virtual angle and the second virtual angle at a corresponding time, as provided in the embodiments of this application. Detailed Implementation

[0036] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0037] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0038] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0039] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0040] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0041] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0042] In applications, the power system of a robot dog consists of a motor and a reducer. The reducer can be used to reduce the motor speed to increase torque. Currently, robot dog manufacturers usually use planetary gear sets as reducers. A smaller sun gear can drive a larger ring gear or planet carrier to achieve the effect of speed reduction and torque increase. However, there is tooth backlash between the sun gear and planet carrier, or between the planet carrier and ring gear, in the planetary reducer. This makes it easy to produce errors when adjusting the torque of the robot dog, resulting in a decrease in the accuracy of controlling the robot dog's movement.

[0043] To address the aforementioned technical problems, this application provides a method for debugging a transmission device. By controlling the input shaft to rotate a preset number of revolutions and recording the rotation angles of the input and output shafts, and combining this with the gear ratio, a false angle can be obtained. The false angle characterizes the transmission error between the input and output shafts. By resetting the input shaft according to the false angle, the driving gear connected to the input shaft and the driven gear connected to the output shaft are precisely meshed, thereby eliminating the false position between the driving and driven gears and thus eliminating the transmission error between the input and output shafts. Consequently, when controlling the robot's movement, the robot's torque can be accurately adjusted to improve the control precision of the robot.

[0044] The debugging method provided in this application can be applied to transmission equipment or any terminal device capable of driving and controlling the transmission equipment. The terminal device can be a mobile phone, tablet computer, wearable device, in-vehicle device, augmented reality (AR) / virtual reality (VR) device, laptop computer, ultra-mobile personal computer (UMPC), netbook, personal digital assistant (PDA), etc. This application does not impose any restrictions on the specific type of terminal device.

[0045] In applications, the transmission device can be a stepper motor, torque motor, switched reluctance motor, or brushless DC motor, among other types of motors. Specifically, it can be a servo motor, which may have an integrated motor and reducer inside. This application does not impose any restrictions on the specific type of transmission device.

[0046] like Figure 1 As shown, the transmission device 100 provided in this embodiment includes a gear set 110, a motor 120, and a controller 130. Figure 2 (Top view) and Figure 3 (Side view) The structure of the gear set 110 is shown exemplarily. The gear set 110 includes an input shaft 111, an output shaft 112, a driving gear 113, a driven gear 114, a first encoder 115, and a second encoder 116. The input shaft 111 is fixed to the gear shaft of the driving gear 113, the output shaft 112 is fixed to the gear shaft of the driven gear 114, the driving gear 113 meshes with the driven gear 114, the first encoder 115 is fixed to the input shaft 111, and the second encoder 116 is fixed to the output shaft 112.

[0047] The motor 120 is connected to the input shaft 111 of the gear set;

[0048] The controller 130 is connected to the motor 120, the first encoder 115 and the second encoder 116 respectively;

[0049] Controller 130 is used for:

[0050] The input shaft 111 is rotated a preset number of revolutions by the motor 120;

[0051] When the input shaft 111 rotates, the rotation angle of the input shaft 111 is recorded by the first encoder 115, and the rotation angle of the output shaft 112 is recorded by the second encoder 116.

[0052] The virtual angle is obtained based on the rotation angle of the input shaft 111, the rotation angle of the output shaft 112 and the transmission ratio of the gear set. The virtual angle is used to characterize the transmission error between the input shaft 111 and the output shaft 112.

[0053] The control motor 120 is used to reset the input shaft 111 based on the virtual angle, so as to eliminate the transmission error between the input shaft 111 and the output shaft 112.

[0054] In application, the driven gear 114 of the gear set 110 may include multiple sub-driven gears, one end of which may be connected to a gear disk, and the output shaft 112 is fixed to the driven gear disk 118 (e.g., Figure 3As shown), multiple driven gears drive one output shaft 112; or, each driven gear can be connected to one output shaft 112, so that multiple driven gears drive one-to-one output shafts 112. The driving gear 113 of the gear set 110 can also include multiple driving gears. The connection relationship between the multiple driving gears and the input shaft 111 is the same as the connection relationship between the multiple driven gears and the output shaft 112, and will not be repeated here. The second encoder 116 can be fixed to the output shaft 112 or to the driven gear disk 118 (e.g., ...). Figure 3 (as shown), Figure 3 Only one first encoder 115 fixed to the input shaft 111 and one second encoder 116 fixed to the driven gear disk 118 are shown as examples. The embodiments of this application do not limit the number of first encoders 115 and second encoders 116.

[0055] In one embodiment, the gear set 110 is a planetary gear set 110, which further includes a fixed gear 117 that meshes with a driven gear 114 (e.g., Figure 2 (as shown), or, the fixed gear 117 meshes with the driving gear 113.

[0056] In application, gear set 110 can specifically be a planetary gear set 110, including a driving gear 113, driven gears 114, and a fixed gear 117. Specifically, it can include one driving gear 113, multiple driven gears 114, and one fixed gear 117 (e.g., ...). Figure 2 As shown, the planetary gear set 110 may also include a driving gear 113, a driven gear 114, and multiple fixed gears. This application embodiment does not impose any limitation on the specific number of gears in the planetary gear set 110.

[0057] In application, the following combination Figure 2 and Figure 3 The working principle of gear set 110 is explained as follows: Input shaft 111 rotates under motor control, driving drive gear 113 to rotate, which in turn drives driven gear 114 meshing with drive gear 113 to rotate, and in turn drives output shaft 112 to rotate. It should be noted that when input shaft 111 rotates 'a' times, output shaft 112 rotates 1 time, where 'a' is the transmission ratio of gear set 110, and 'a' is greater than 0. When 'a' is greater than 1, gear set 110 can act as a speed reducer to reduce motor speed and increase torque. The specific transmission ratio of gear set 110 is determined based on the diameter and number of drive gear 113 and driven gear 114. In this embodiment, no restrictions are placed on the specific diameter and number of drive gear 113 and driven gear 114.

[0058] In applications, the first encoder 115 and the second encoder 116 can be different types of rotary encoders such as Hall encoders or quadrature encoders, which can be used to obtain the rotation angle, rotation speed and rotation direction of the corresponding input shaft 111 and output shaft 112.

[0059] In application, the controller 130 can control the motor 120 to rotate the input shaft 111 a preset number of revolutions, and acquire the rotation angles of the input shaft 111 and the output shaft 112 collected by the first encoder 115 and the second encoder 116, thereby detecting and eliminating transmission errors between the input shaft 111 and the output shaft 112. Specific debugging methods can be found below. Figures 5 to 7 The corresponding implementation examples.

[0060] like Figure 4 As shown, the robot 200 provided in this application embodiment includes a housing 210, a processor 220, multiple movable joints 230, and a transmission device 240 provided in the above embodiment;

[0061] A processor 220, a plurality of movable joints 230 and at least one transmission device 240 are disposed within a housing 210. The output shaft of each transmission device 240 is connected to at least one movable joint 230, and the processor 220 is connected to the controller of each transmission device 240.

[0062] The transmission device 240 is used to control the movement of at least one connected movable joint 230;

[0063] The processor 220 is used to generate control signals and send control signals to the controller of each drive device 240.

[0064] In applications, robot 200 can be different types of robots, such as wheeled robots, tracked robots, and humanoid robots; specifically, it can be a robot dog. The shape of the shell 210 of robot 200 can be set according to actual needs and specific types.

[0065] In applications, processor 220 can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices or transistor logic devices. The general-purpose processor can be a microprocessor, or processor 220 can be any conventional processor.

[0066] In one embodiment, the robot 200 further includes an input module, a wired communication module, and a wireless communication module.

[0067] In applications, the input module may include input devices such as a mouse, keyboard, and touch panel, allowing users to input control commands through the input module, so that the processor 220 can generate control signals according to the control commands.

[0068] In applications, the robot 200 can establish a wired connection with the terminal device via a wired communication module or a wireless communication module. It can receive control commands from the terminal device via wired or wireless communication, enabling the processor 220 to generate control signals based on these commands. Specifically, the wired communication module can include different types of interfaces such as USB (Universal Serial Bus) Type-A, USB Type-C, UART (Universal Asynchronous Receiver / Transmitter), HCI (Host Controller Interface), or Lightning. The wireless communication module can include wireless communication units such as Bluetooth, ZigBee, Optical Wireless, Wireless Local Area Network (WLAN), and Near Field Communication (NFC).

[0069] In the application, after generating control signals according to control instructions, the processor 220 can send the control signals to the controller of each transmission device 240. Specifically, the processor 220 can generate sub-control signals corresponding one-to-one with multiple transmission devices 240 according to control instructions, and send each sub-control signal to the controller of the corresponding transmission device 240 to improve the control accuracy of the robot 200.

[0070] In application, the transmission device 240 provided in the above embodiments can be installed inside the housing 210 of the robot 200 and serve as a power unit for the robot 200 to drive the movable joints 230. Each transmission device 240 can be connected to at least one movable joint 230 via an output shaft, thereby driving the connected movable joint 230 to move when the output shaft rotates.

[0071] It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the transmission device 100 and the robot 200. In other embodiments of this application, the transmission device 100 and the robot 200 may include more or fewer components than illustrated, or combine certain components, or different components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0072] like Figure 5 As shown, the debugging method for the transmission device provided in this application embodiment includes the following steps S501 to S504:

[0073] Step S501: Control the input shaft to rotate a preset number of revolutions.

[0074] In applications, the controller of the transmission equipment can control the input shaft to rotate a preset number of revolutions. This preset number of revolutions can be 0.5 revolutions, 1 revolution, or 2 revolutions, etc. The specific value of the preset number of revolutions can be set according to actual debugging needs. This application embodiment does not impose any limitation on the specific value of the preset number of revolutions. It should be noted that the more preset revolutions, the larger the rotation angle of the input and output shafts, and the higher the probability and completeness of detecting the misalignment between the driving and driven gears, thus improving the accuracy of obtaining the transmission error between the input and output shafts. Generally speaking, the preset number of revolutions needs to be set so that the rotation angle of both the driving and driven gears is greater than or equal to 360 degrees, thereby enabling complete detection of the misalignment between the driving and driven gears to ensure accurate acquisition of the transmission error between the input and output shafts.

[0075] Step S502: When the input shaft rotates, the rotation angle of the input shaft is recorded by the first encoder, and the rotation angle of the output shaft is recorded by the second encoder;

[0076] Step S503: Obtain the virtual angle based on the rotation angle of the input shaft, the rotation angle of the output shaft, and the transmission ratio of the gear set. The virtual angle is used to characterize the transmission error between the input shaft and the output shaft.

[0077] In application, as the input shaft rotates according to a preset number of revolutions, the rotation angle of the input shaft can be recorded by the first encoder, and the rotation angle of the output shaft can be recorded by the second encoder. It should be noted that the diameters of the driving gear and the driven gear are different, and therefore, their rotation angles are different at the same time.

[0078] In application, the output shaft rotation angle can be multiplied by the gear ratio to obtain the output shaft switching angle, which can then be compared with the input shaft rotation angle at the same moment to obtain the false angle. Specifically, when there is no transmission error between the input and output shafts, the output shaft switching angle and the input shaft rotation angle are equal at the same moment. However, when there is a transmission error between the input and output shafts, the difference between the output shaft rotation angle and the input shaft rotation angle can be calculated. Since the difference between the output shaft rotation angle and the input shaft rotation angle may differ at different times, the maximum difference can be taken as the false angle. The false angle can be used to characterize the false position between the driving gear and the driven gear, i.e., the transmission error between the input and output shafts.

[0079] Step S504: Reset the input shaft according to the virtual angle to eliminate the transmission error between the input shaft and the output shaft.

[0080] In applications, after calculating the virtual angle, the input shaft can be reset according to the virtual angle to eliminate the transmission error between the input and output shafts.

[0081] For example, assuming the input shaft rotates clockwise a preset number of times and the resulting misalignment angle is -0.3 degrees, this indicates that the misalignment between the driving gear and the driven gear in the clockwise direction is 0.3 degrees (i.e., the driving gear leads the driven gear by 0.3 degrees in the clockwise direction). The motor can be controlled to rotate the input shaft clockwise by -0.3 degrees, thereby resetting the input shaft and ensuring that the driving gear connected to the input shaft and the driven gear connected to the output shaft mesh perfectly, thus eliminating the transmission error between the input and output shafts.

[0082] In application, by controlling the input shaft to rotate a preset number of revolutions and recording the rotation angles of the input and output shafts, and combining this with the gear ratio, the virtual angle can be obtained. The virtual angle is used to characterize the transmission error between the input and output shafts. By resetting the input shaft according to the virtual angle, the driving gear connected to the input shaft and the driven gear connected to the output shaft are precisely meshed, thereby eliminating the transmission error between the input and output shafts. Consequently, when controlling the robot's movement, the robot's torque can be accurately adjusted to improve the control precision of the robot.

[0083] like Figure 6 As shown, in one embodiment, based on Figure 5 The corresponding embodiment includes the following steps S601 to S607:

[0084] Step S601: Receive control signal. The control signal is used to determine the rotation speed, number of rotations, and rotation direction of the input shaft.

[0085] Step S602: Detect whether the control signal is used to switch the rotation direction of the input shaft;

[0086] Step S603: When the control signal is determined to be used to switch the rotation direction of the input shaft, the input shaft is controlled to rotate a preset number of revolutions.

[0087] In applications, the transmission device can receive control signals through a controller. These control signals are used to determine the rotational speed, number of rotations, and direction of the input shaft. By analyzing the control signals, it can be detected whether the control signals are used to switch the rotational direction of the input shaft. If so, the input shaft is controlled to rotate a preset number of times, and adjustments are made by executing steps S604 to S606 to eliminate transmission errors between the input and output shafts. If not, the input shaft is driven according to the control signals.

[0088] Step S604: When the input shaft rotates, the rotation angle of the input shaft is recorded by the first encoder, and the rotation angle of the output shaft is recorded by the second encoder;

[0089] Step S605: Obtain the virtual angle based on the rotation angle of the input shaft, the rotation angle of the output shaft, and the transmission ratio of the gear set. The virtual angle is used to characterize the transmission error between the input shaft and the output shaft.

[0090] Step S606: Reset the input shaft according to the false angle to eliminate the transmission error between the input shaft and the output shaft.

[0091] In application, the debugging methods provided in steps S604 to S606 are the same as those provided in steps S502 to S504 above, and will not be repeated here.

[0092] In application, by detecting whether the control signal is used to switch the rotation direction of the input shaft, and adjusting the transmission device when it is determined that the control signal is used to switch the rotation direction of the input shaft, the transmission device can be automatically adjusted every time the rotation direction of the input shaft is switched, realizing the automation and intelligence of robot adjustment.

[0093] like Figure 7 As shown, in one embodiment, based on Figure 6 The corresponding embodiment includes the following steps S701 to S710:

[0094] Step S701: Receive control signal. The control signal is used to determine the rotation speed, number of rotations, and rotation direction of the input shaft.

[0095] Step S702: Detect whether the control signal is used to switch the rotation direction of the input shaft;

[0096] In application, the debugging methods provided in steps S701 and S702 are the same as those provided in steps S601 and S602 above, and will not be repeated here.

[0097] Step S703: When it is determined that the control signal is used to switch the rotation direction of the input shaft, the input shaft is controlled to rotate a first preset number of times in the first rotation direction, and then proceed to step S705.

[0098] Step S704: When it is determined that the control signal is used to switch the rotation direction of the input shaft, the input shaft is controlled to rotate a second preset number of times in the second rotation direction. The second rotation direction is opposite to the first rotation direction. Proceed to step S706.

[0099] In application, when determining the control signal to switch the rotation direction of the input shaft, the input shaft can be controlled to rotate a first preset number of revolutions in a first rotation direction and a second preset number of revolutions in a second rotation direction. The first rotation direction can be clockwise, in which case the second rotation direction is counter-clockwise; or, the first rotation direction can be counter-clockwise, in which case the second rotation direction is clockwise. The method for setting the first and second preset number of revolutions is the same as the method for setting the preset number of revolutions described above, and will not be repeated here. The first preset number of revolutions can be equal to the second preset number of revolutions.

[0100] Step S705: When the input shaft rotates in the first rotation direction, the first rotation angle of the input shaft is recorded by the first encoder and the first rotation angle of the output shaft is recorded by the second encoder, and then proceed to step S707.

[0101] Step S706: When the input shaft rotates in the second rotation direction, the second rotation angle of the input shaft is recorded by the first encoder, and the second rotation angle of the output shaft is recorded by the second encoder, and then proceed to step S708.

[0102] In application, when the input shaft rotates in a first rotation direction and a second rotation direction, the rotation angles of the input shaft and the output shaft can be recorded separately. Specifically, when the input shaft rotates in the first rotation direction, the first rotation angle of the input shaft is recorded by the first encoder, and the first rotation angle of the output shaft is recorded by the second encoder; when the input shaft rotates in the second rotation direction, the second rotation angle of the input shaft is recorded by the first encoder, and the second rotation angle of the output shaft is recorded by the second encoder.

[0103] Step S707: Based on the first rotation angle of the input shaft, the first rotation angle of the output shaft, and the transmission ratio, obtain the first virtual angle. The first virtual angle is used to characterize the transmission error between the input shaft and the output shaft when the input shaft rotates in the first rotation direction.

[0104] Step S708: Obtain the second virtual angle based on the second rotation angle of the input shaft, the second rotation angle of the output shaft, and the transmission ratio. The second virtual angle is used to characterize the transmission error between the input shaft and the output shaft when the input shaft rotates in the second rotation direction.

[0105] In applications, when the driving gear and driven gear are meshing, there is tooth flank clearance on both the left and right sides of the meshing teeth between the driving gear and the driven gear. Therefore, there may be play between the driving gear and the driven gear in both the first rotation direction and the second rotation direction, and the play on the left and right sides may not be equal. This results in the transmission error between the input shaft and the output shaft when the input shaft rotates in the first rotation direction not being equal to the transmission error between the input shaft and the output shaft when the input shaft rotates in the second rotation direction.

[0106] In application, the first switching angle of the output shaft can be calculated based on the first rotation angle and transmission ratio of the output shaft. Then, the first virtual angle can be calculated based on the first switching angle of the output shaft and the first rotation angle of the input shaft. The first virtual angle characterizes the transmission error between the input shaft and the output shaft when the input shaft rotates in the first rotation direction. Similarly, the second switching angle of the output shaft can be calculated based on the second rotation angle and transmission ratio of the output shaft. Then, the second virtual angle can be obtained based on the second switching angle of the output shaft and the first rotation angle of the input shaft. The second virtual angle characterizes the transmission error between the input shaft and the output shaft when the input shaft rotates in the second rotation direction. The calculation methods for the first and second virtual angles are the same as those for the virtual angle in step S503 above, and will not be repeated here.

[0107] Step S709: Obtain the combined virtual angle based on the first virtual angle and the second virtual angle;

[0108] Step S710: Reset the input shaft according to the comprehensive misalignment angle to eliminate the transmission error between the input shaft and the output shaft.

[0109] In application, the combined virtual angle can be calculated based on the first virtual angle and the second virtual angle. Specifically, when the first preset number of revolutions equals the second preset number of revolutions, assuming the duration of the input shaft rotating the first preset number of revolutions in the first rotation direction is T, then the duration of the input shaft rotating the second preset number of revolutions in the second rotation direction is also T; the average value of the first virtual angle and the average value of the second virtual angle are obtained, and the absolute value of the average value of the first virtual angle and the absolute value of the average value of the second virtual angle are determined; when the absolute value of the average value of the first virtual angle is greater than the absolute value of the average value of the second virtual angle, the absolute value of the first virtual angle at time Tt and the absolute value of the second virtual angle at time T+t are calculated. The difference between absolute values ​​is used to characterize the virtual angle between the driving gear and the driven gear at time Tt / T+t, and the maximum calculated difference is taken as the comprehensive virtual angle. When the absolute value of the average value of the first virtual angle is less than the absolute value of the average value of the second virtual angle, the difference between the absolute value of the second virtual angle at time T+t and the absolute value of the first virtual angle at time Tt is calculated. This difference is used to characterize the virtual angle between the driving gear and the driven gear at time Tt / T+t, and the maximum calculated difference is taken as the comprehensive virtual angle, where t∈[0,T]. The comprehensive virtual angle is used to characterize the transmission error between the input shaft and the output shaft when the input shaft rotates in the first rotation direction or the second rotation direction.

[0110] Figure 8 An exemplary diagram shows the functional relationship (straight line) between the first rotation angle and the second rotation angle of the input shaft and time, and the functional relationship (dashed line) between the first conversion angle and the second conversion angle of the output shaft and time.

[0111] Figure 9 Examples of the functional relationship between the first virtual angle and time are shown;

[0112] Figure 10 An example is shown showing the difference between the first virtual angle and the second virtual angle at the corresponding time.

[0113] The following combination Figure 8 , Figure 9 and Figure 10 The acquisition of the first virtual angle, the second virtual angle, and the combined virtual angle is explained. It is assumed that the input shaft rotates one revolution in 0.8 seconds. Figure 8 As shown, when t is greater than or equal to 0 and less than 1.75s, the input shaft rotates in the first rotation direction, and at each moment there is a first virtual angle between the input shaft and the output shaft. Figure 8The example shows the first virtual angle at t = 0.5s; at t = 1.75s, the rotation direction of the input shaft switches from the first rotation direction to the second rotation direction; when t is greater than 1.75s and less than or equal to 3.5s, there is a second virtual angle between the input shaft and the output shaft at each moment. Figure 8 The example shown is the second virtual angle at t = 3.1s;

[0114] like Figure 9 As shown, an example is provided, illustrating the first illusory angle at each time step when t is greater than or equal to 0 and less than 1.75s; and the second illusory angle at each time step when t is greater than 1.75s and less than or equal to 3.5s.

[0115] like Figure 10 As shown, the difference between the first virtual angle and the second virtual angle at the corresponding time is illustrated (the difference between the first virtual angle at time Tt and the second virtual angle at time T+t), and the maximum difference of 0.4 degrees is taken as the comprehensive virtual angle.

[0116] In application, if the input shaft is reset based solely on the first virtual angle, the tooth backlash between the driving gear and the driven gear in the first rotation direction can be reduced to zero. This only eliminates the transmission error between the input shaft and the output shaft when the input shaft rotates in the first rotation direction. After switching the rotation direction of the input shaft to the second rotation direction, a transmission error will still occur, and the transmission error will be relatively large. The effect of resetting the input shaft based solely on the second virtual angle is the same as that of resetting the input shaft based solely on the first virtual angle, and will not be elaborated further here.

[0117] In application, when the absolute value of the average value of the first virtual angle is greater than the absolute value of the average value of the second virtual angle, the input shaft is rotated in the second rotation direction by the motor to integrate the virtual angle; when the absolute value of the average value of the first virtual angle is less than the absolute value of the average value of the second virtual angle, the input shaft is rotated in the first rotation direction by the motor to complete the reset of the input shaft.

[0118] In application, resetting the input shaft according to the comprehensive misalignment angle can make the driving gear and driven gear mesh exactly (the tooth flank clearance of the meshing teeth between the driving gear and driven gear in the first rotation direction is equal to the tooth flank clearance in the second rotation direction), thereby eliminating the misalignment between the driving gear and driven gear. This ensures that there is no transmission error between the input shaft and the output shaft when rotating in the first direction and in the second direction, further improving the control accuracy of the robot.

[0119] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0120] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the above-described embodiments of the debugging methods for various transmission devices.

[0121] If the integrated module is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a camera terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks.

[0122] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0123] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0124] In the embodiments provided in this application, it should be understood that the disclosed terminal devices and methods can be implemented in other ways. For example, the terminal device embodiments described above are merely illustrative. For instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or modules, and may be electrical, mechanical, or other forms.

[0125] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for debugging a transmission device, characterized in that, The transmission device includes a gear set, which includes an input shaft, an output shaft, a driving gear, a driven gear, a first encoder, and a second encoder. The input shaft is fixed to the gear shaft of the driving gear, and the output shaft is fixed to the gear shaft of the driven gear. The driving gear and the driven gear mesh. The first encoder is fixed to the input shaft, and the second encoder is fixed to the output shaft. The debugging method includes: Control the input shaft to rotate a preset number of revolutions; When the input shaft rotates, the rotation angle of the input shaft is recorded by the first encoder and the rotation angle of the output shaft is recorded by the second encoder, including: when the input shaft rotates in a first rotation direction, the first encoder records the first rotation angle of the input shaft and the second encoder records the first rotation angle of the output shaft; when the input shaft rotates in a second rotation direction, the first encoder records the second rotation angle of the input shaft and the second encoder records the second rotation angle of the output shaft. The method of obtaining a virtual angle based on the rotation angle of the input shaft, the rotation angle of the output shaft, and the transmission ratio of the gear set includes: obtaining a first virtual angle based on the first rotation angle of the input shaft, the first rotation angle of the output shaft, and the transmission ratio, wherein the first virtual angle is used to characterize the transmission error between the input shaft and the output shaft when the input shaft rotates in a first rotation direction; and obtaining a second virtual angle based on the second rotation angle of the input shaft, the second rotation angle of the output shaft, and the transmission ratio, wherein the second virtual angle is used to characterize the transmission error between the input shaft and the output shaft when the input shaft rotates in a second rotation direction. Resetting the input shaft according to the virtual angle to eliminate transmission error between the input shaft and the output shaft includes: obtaining a comprehensive virtual angle based on the first virtual angle and the second virtual angle; and resetting the input shaft according to the comprehensive virtual angle to eliminate transmission error between the input shaft and the output shaft.

2. The debugging method as described in claim 1, characterized in that, The control of the input shaft to rotate a preset number of revolutions includes: The input shaft is controlled to rotate a first preset number of revolutions in a first rotation direction; The input shaft is controlled to rotate a second preset number of revolutions in a second rotation direction, the second rotation direction being opposite to the first rotation direction.

3. The debugging method according to any one of claims 1 to 2, characterized in that, Before controlling the input shaft to rotate a preset number of revolutions, the following steps are included: Receive control signals, which are used to determine the rotational speed, number of rotations, and direction of rotation of the input shaft; Detect whether the control signal is used to switch the rotation direction of the input shaft; The control of the input shaft to rotate a preset number of revolutions includes: When the control signal is used to switch the rotation direction of the input shaft, the input shaft is controlled to rotate a preset number of revolutions.

4. A transmission device, characterized in that, The device includes a gear set, a motor, and a controller. The gear set includes an input shaft, an output shaft, a driving gear, a driven gear, a first encoder, and a second encoder. The input shaft is fixed to the gear shaft of the driving gear, the output shaft is fixed to the gear shaft of the driven gear, the driving gear meshes with the driven gear, the first encoder is fixed to the input shaft, and the second encoder is fixed to the output shaft. The input shafts of the motor and the gear set are connected; The controller is connected to the motor, the first encoder, and the second encoder respectively; The controller is used for: The input shaft is controlled to rotate a preset number of revolutions by the motor. When the input shaft rotates, the rotation angle of the input shaft is recorded by the first encoder and the rotation angle of the output shaft is recorded by the second encoder, including: when the input shaft rotates in a first rotation direction, the first encoder records the first rotation angle of the input shaft and the second encoder records the first rotation angle of the output shaft; when the input shaft rotates in a second rotation direction, the first encoder records the second rotation angle of the input shaft and the second encoder records the second rotation angle of the output shaft. The method of obtaining a virtual angle based on the rotation angle of the input shaft, the rotation angle of the output shaft, and the transmission ratio of the gear set includes: obtaining a first virtual angle based on the first rotation angle of the input shaft, the first rotation angle of the output shaft, and the transmission ratio, wherein the first virtual angle is used to characterize the transmission error between the input shaft and the output shaft when the input shaft rotates in a first rotation direction; and obtaining a second virtual angle based on the second rotation angle of the input shaft, the second rotation angle of the output shaft, and the transmission ratio, wherein the second virtual angle is used to characterize the transmission error between the input shaft and the output shaft when the input shaft rotates in a second rotation direction. Controlling the motor to reset the input shaft according to the virtual angle to eliminate the transmission error between the input shaft and the output shaft includes: obtaining a comprehensive virtual angle based on the first virtual angle and the second virtual angle; and resetting the input shaft according to the comprehensive virtual angle to eliminate the transmission error between the input shaft and the output shaft.

5. The transmission device as described in claim 4, characterized in that, The controller is also used for: The system receives control signals and sends the control signals to the motor. The control signals are used to determine the rotational speed, number of rotations, and rotation direction of the input shaft. Detect whether the control signal is used to switch the rotation direction of the input shaft; When the control signal is used to switch the rotation direction of the input shaft, the motor controls the input shaft to rotate a preset number of revolutions.

6. A robot, characterized in that, It includes a housing, a processor, multiple movable joints, and at least one transmission device as described in claim 4 or 5; The processor, the plurality of movable joints, and at least one of the transmission devices are disposed within the housing. The output shaft of each transmission device is connected to at least one of the movable joints, and the processor is connected to the controller of each transmission device. The transmission device is used to control the movement of at least one of the connected movable joints; The processor is used to generate control signals and send the control signals to the controller of each of the transmission devices.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the debugging method as described in any one of claims 1 to 3.

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