Robots and torque control methods, systems, and apparatuses applied to robot joint motors

Abstract

The embodiment of the application discloses a kind of robot and applied to the torque control method, system and equipment of robot joint motor, belong to robot field.Therein, torque control method includes: in the process that robot operates target object to execute first instruction, first parameter value for indicating the torque of joint motor is acquired in real time;In the case where first parameter value reaches torque threshold value, the torque of joint motor is maintained according to torque threshold value and timing is carried out, so as to maintain the operation of robot to target object;If timing reaches target time, robot executes second instruction different from first instruction is triggered;If first parameter value changes more than rated fluctuation range before timing reaches target time, timing is zeroed and robot continues to execute the first instruction is controlled.The technical problem that robot is at least solved to the assembly of target object not in place can be solved by adopting the embodiment of the application.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a robot and a method, system, and device for torque control applied to the joint motors of the robot. Background Technology

[0002] In the field of industrial robots, torque control system usually refers to the torque control system used when assembling industrial robots with high precision.

[0003] Industrial robots are currently widely used in various manufacturing sectors, especially in high-precision assembly scenarios where their application and demand are becoming increasingly apparent. By controlling the position of robots to assemble parts, the need for manual labor can be reduced in some areas. However, certain industrial scenarios require robots to reduce the damage rate of the assembled parts while performing high-precision assembly. Some existing technologies, in an attempt to reduce the damage rate of assembled parts, often result in incomplete assembly. Summary of the Invention

[0004] This application provides a robot and a torque control method, system, and device applied to the robot's joint motor, to at least solve the technical problem of incomplete robot assembly with a target object.

[0005] According to a first aspect of the embodiments of this application, a torque control method for a robot joint motor is provided, comprising:

[0006] During the process of the robot operating the target object to execute the first instruction, a first parameter value representing the torque of the joint motor is acquired in real time;

[0007] When the first parameter value reaches the torque threshold, the torque of the joint motor is maintained according to the torque threshold and the timing is recorded, thereby maintaining the robot's operation on the target object;

[0008] If the timer reaches the target time, the robot is triggered to execute a second instruction different from the first instruction, and / or,

[0009] If the value of the first parameter changes beyond the rated fluctuation range before the timer reaches the target time, the timer is reset and the robot is controlled to continue executing the first instruction.

[0010] By using this embodiment, the combination of torque threshold and target time can reduce the vulnerability rate of assembled parts and reduce or avoid incomplete assembly, thus ensuring accurate assembly of the target object.

[0011] In conjunction with the first aspect, in an optional implementation of this application embodiment, the real-time acquisition of a first parameter value representing the torque of the joint motor includes:

[0012] The current value of the joint motor is acquired in real time, and the current value is used as the first parameter value; or,

[0013] The current value of the joint motor is acquired in real time;

[0014] The torque value of the joint motor is calculated based on the current value, and the torque value of the joint motor is used as the first parameter value.

[0015] In conjunction with the first aspect, in one optional implementation of the embodiments of this application, the torque threshold and the target time are associated with the intensity of the target object;

[0016] The higher the strength of the target object, the greater the torque threshold and / or the longer the target time.

[0017] In conjunction with the first aspect, in one optional implementation of the embodiments of this application, the first parameter value reaching the torque threshold includes:

[0018] The first parameter value is equal to the torque threshold and is maintained for a set time;

[0019] Wherein, the set time is less than the target time, or,

[0020] The set time is N interrupt cycles, where N is a positive integer not exceeding 5.

[0021] In conjunction with the first aspect, in an optional implementation of this application embodiment, maintaining the torque of the joint motor according to the torque threshold includes:

[0022] The torque of the joint motor is maintained within the rated fluctuation range based on the torque threshold.

[0023] In conjunction with the first aspect, in an optional implementation of the embodiments of this application, the method further includes:

[0024] Before the robot executes the first instruction on the target object, it obtains the assembly requirements input by the user. The assembly requirements include the attribute values ​​of the target object, or include the torque threshold and the target time.

[0025] When the assembly requirement is the attribute value of the target object, the torque threshold and the target time are determined by querying pre-stored information based on the attribute value of the target object, wherein the pre-stored information includes the torque threshold and target time corresponding to different attribute values.

[0026] In conjunction with the first aspect, in an optional implementation of the embodiments of this application, the method further includes:

[0027] During the process of the robot operating the target object to execute the first instruction, and / or during the timing process, the following processing is performed:

[0028] Based on the visual detection results of the target object, determine whether the target object has been deformed or determine the degree of deformation of the target object;

[0029] Whether to stop executing the first instruction depends on whether the target object has been deformed or the degree of deformation of the target object.

[0030] According to a second aspect of the embodiments of this application, a torque control system for a robot joint motor is provided, the torque control system comprising:

[0031] Drive end: Used to acquire a first parameter value representing the torque of the joint motor in real time during the movement of the target joint, and feed the first parameter value back to the motion control module;

[0032] Motion control module: used to control the drive end to maintain the torque of the joint motor and time it according to the torque threshold when the first parameter value reaches the torque threshold, thereby maintaining the robot's operation on the target object.

[0033] If the timer reaches the target time, the robot is triggered to execute a second instruction different from the first instruction, and / or,

[0034] If the value of the first parameter changes beyond the rated fluctuation range before the timer reaches the target time, the timer is reset and the robot is controlled to continue executing the first instruction.

[0035] According to a third aspect of the embodiments of this application, an electronic device is provided, the electronic device comprising:

[0036] Memory, used to store one or more computer instructions;

[0037] A processor is used to invoke and execute the computer instructions to implement the torque control method described in the first aspect of the embodiments of this application.

[0038] According to a third aspect of the embodiments of this application, a robot is provided, wherein the robot uses the torque control method of the first aspect of the embodiments of this application to control the joint motors of the robot, or the robot has a torque control system of the second aspect of the embodiments of this application, or the robot has an electronic device of the third aspect of the embodiments of this application.

[0039] The technical effects achieved by the second to fourth aspects mentioned above are similar to those achieved by the technical solution corresponding to the first aspect, and will not be repeated here. Attached Figure Description

[0040] Figure 1 This is a schematic flowchart of a torque control method for a robot joint motor provided according to an embodiment of this application;

[0041] Figure 2 This is a schematic flowchart of a torque control method for a robot joint motor provided according to an embodiment of this application;

[0042] Figure 3 This is a schematic flowchart of a torque control method for a robot joint motor provided according to an embodiment of this application;

[0043] Figure 4 This is a schematic diagram of a torque control system for a robot joint motor, provided according to an embodiment of this application.

[0044] Figure 5 This is a schematic diagram of an electronic device applied to a robot joint motor according to an embodiment of this application. Detailed Implementation

[0045] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0046] It should be understood that "multiple" as mentioned herein refers to two or more. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B; "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, to facilitate a clear description of the technical solutions of the embodiments of this application, the terms "first," "second," etc., are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first," "second," etc., do not limit the quantity or execution order, and the terms "first," "second," etc., do not necessarily imply differentness.

[0047] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such that a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or apparatus.

[0048] First, the terminology used in the embodiments of this application will be introduced.

[0049] Joint motors: Joint motors are key actuators in a robot's drive system, responsible for converting electrical energy into mechanical energy to drive the movement of the robot's joints. These motors play a vital role in robots, enabling them to perform various complex actions and tasks. Common joint motors include AC servo motors, DC servo motors, stepper motors, and micro motors.

[0050] Torque Control: Torque control of joint motors is a crucial aspect of robot control systems, directly impacting the motion performance and precision of robot joints. In torque control mode, the motor controller adjusts the motor's output torque based on preset torque commands or real-time torque feedback, enabling the robot joints to move in the desired manner. Torque control is widely used in various scenarios requiring precise control of robot joint movement, such as precision assembly: In precision assembly tasks, accurate control of robot joint torque is necessary to ensure assembly accuracy and quality. Force Feedback Control: In human-robot interaction or robot-environment interaction scenarios, torque control enables force feedback control, improving robot safety and stability. Dynamic Adjustment: When robots perform complex dynamic tasks, such as walking and jumping, real-time adjustment of joint torque is required to maintain robot balance and stability.

[0051] The terminology used in the embodiments of this application has been introduced above. Next, the application scenarios of robot joint motors in some typical fields will be described by way of example.

[0052] Take the application scenario of engine bolt tightening in the automotive manufacturing industry as an example. During the final assembly of a car, the tightening of engine bolts is a critical step. The quality of bolt tightening directly affects the engine's performance and safety. Traditional tightening operations are usually performed manually by workers, but this suffers from problems such as inaccurate tightening torque and worker fatigue.

[0053] By employing the torque control function of the robot's joint motors, the output torque of the tightening gun can be precisely controlled, ensuring that each bolt is tightened accurately to the predetermined value. The robot can work continuously for 24 hours a day, improving production efficiency while avoiding tightening quality problems caused by human factors. Through torque control, the tightening quality of automotive engines has been significantly improved, reducing the failure rate caused by improper tightening torque and enhancing the overall performance and safety of the vehicle.

[0054] Take the precision parts machining application scenario in the machining industry as an example. In the machining industry, the machining of precision parts places extremely high demands on the accuracy and stability of machine tools. The feed system and spindle system of machine tools are usually equipped with high-precision articulated motors. During the machining process, the torque control function of the articulated motors ensures that the machine tool maintains a stable output torque during cutting, milling, and other operations, avoiding fluctuations in cutting force caused by load changes, thereby improving machining accuracy and surface quality. Through precise torque control, the machining industry can produce higher-precision parts to meet the needs of high-end fields such as aerospace and medical devices.

[0055] Take robotic material handling in the service industry as an example. In warehousing, logistics, and other service industries, robotic material handling is a crucial task. Robots need to move goods of varying weights and shapes flexibly in complex environments. The torque control function of the robot's joint motors automatically adjusts the output torque based on the weight and shape of the goods being handled, ensuring the robot can complete the handling task smoothly and safely. Furthermore, torque control helps the robot make quick and accurate adjustments when encountering obstacles or needing to change its posture. Through torque control, the efficiency of robotic material handling in the service industry is improved, while simultaneously reducing the risk of damage to goods and personal injury caused by improper handling.

[0056] The above examples illustrate the application scenarios of the embodiments of this application. In this application scenario or similar scenarios, there is a related technology that can also perform torque control when controlling the position of a robot. However, this solution actually calculates the desired momentum based on the user-set desired torque value, calculates the joint angular velocity based on the desired momentum, and then obtains the joint angle to control the robot. The problem is that there is no ideal environment in the assembly process in industrial scenarios, and there are many calculation levels, which can easily lead to errors in calculation accuracy. This can result in fluctuations in the final control, and may still cause insufficient output torque, resulting in incomplete assembly, or output torque exceeding the expected value, resulting in deformation and loss of the assembled parts.

[0057] Based on this, embodiments of this application provide a torque control method applied to robot joint motors, such as... Figure 1 As shown, the method includes the following processing steps.

[0058] 100: During the process of the robot operating the target object to execute the first instruction, the first parameter value used to represent the torque of the joint motor is acquired in real time.

[0059] In automated assembly or other operations using robots, the robot operates on a target object according to preset instructions. The target object can be parts, materials, etc.

[0060] The first parameter value can be the torque of the joint motor itself, or it can be other parameter values ​​that can characterize the torque of the joint motor.

[0061] 102: When the first parameter value reaches the torque threshold, the joint motor torque is maintained according to the torque threshold and the timing is recorded, thereby maintaining the robot's operation on the target object.

[0062] In this embodiment, 102 is used so that when the first parameter value reaches the torque threshold, the torque output does not stop immediately, but the torque of the joint motor continues and the timing is recorded.

[0063] 104: Depending on whether the timer has reached the target time, selectively continue executing the first instruction or execute a second instruction different from the first instruction. Specifically, if the timer reaches the target time, the robot is triggered to execute a second instruction different from the first instruction, and / or, if the value of the first parameter changes beyond the rated fluctuation range before the timer reaches the target time, the timer is reset and the robot is controlled to continue executing the first instruction.

[0064] The torque control method provided in this embodiment selectively determines whether to continue executing the current instruction (first instruction) or execute a new instruction (second instruction) by acquiring a first parameter value representing the torque of the joint motor in real time and maintaining the first parameter value at a torque threshold for a certain period of time. On one hand, the entire process involves very few computational layers, effectively avoiding computational errors caused by a large number of computational layers, thus improving the robot's response speed and enabling it to quickly respond to the actual end-effector state. On the other hand, by maintaining the joint motor torque according to the torque threshold and timing it, assembly defects caused by temporary jamming of the target object can be effectively avoided, reducing the fragility of the assembled parts while ensuring the accuracy of robot assembly.

[0065] Optionally, in one implementation of this embodiment, the current value of the joint motor is acquired in real time during processing 100, and the current value is used as the first parameter value. This implementation directly utilizes the current of the joint motor to characterize its torque, resulting in fewer calculation layers and faster response speed.

[0066] Optionally, in one implementation of this embodiment, in processing 100, the current value of the joint motor is acquired in real time; the torque value of the joint motor is calculated based on the current value, and the torque value of the joint motor is used as the first parameter value. This implementation directly converts the current of the joint motor into torque to determine the torque borne by the robot's end effector during actual operation.

[0067] Optionally, in one implementation of this embodiment, the torque threshold and target time are related to the strength of the target object. Strength can be understood as the ability of the target object to maintain its shape under force. The higher the strength of the target object, the larger the torque threshold and / or the longer the target time. In this implementation, the torque threshold and target time are set primarily on the premise of not causing damage to the target object. To ensure accurate assembly of the target object, the torque threshold and target time can be increased as much as possible without damaging the target object, thus avoiding problems such as incomplete installation due to short-term jamming of the target object. For example, a current technology, to ensure operational safety, stops applying torque shortly after the torque reaches the threshold, which can easily lead to incomplete installation of the target object. By setting a torque threshold and target time that are related to the strength of the target object, this implementation ensures the safety of the target object and the joint motor during assembly and improves the accuracy of the assembly result (e.g., precise installation to the target position).

[0068] For example, the target time is 1 to 2 seconds, which can be determined based on the object being operated on and empirical or experimental values.

[0069] Optionally, in one implementation of this embodiment, in process 102, "when the first parameter value reaches the torque threshold" means when the first parameter value is equal to the torque threshold and remains so for a set time. In other words, after the first parameter value equals the torque threshold and remains so for a set time, the torque of the joint motor is maintained according to the torque threshold and the timing is recorded. The set time is less than the target time. For example, the set time is N interrupt cycles, where N is a positive integer not exceeding 5, for example, N = 3. The interrupt cycle is related to hardware interrupts; the duration of one interrupt cycle is generally 2 or 3 milliseconds. The hardware of each robot is different, and some logical state transfers and algorithm calculations are performed in each interrupt cycle.

[0070] This implementation method can filter out situations where the robot jitters at the torque threshold during the operation of the target object, ensuring the stability of the robot's subsequent operation.

[0071] In this implementation, the torque remains at the torque threshold throughout the N interrupt cycles. The torque output is controlled by the drive; once the torque threshold is reached, the torque is no longer increased.

[0072] Alternatively, in other implementations of this embodiment, the torque of the joint motor can be maintained and timed according to the torque threshold when the first parameter value is detected to be equal to the torque threshold.

[0073] Optionally, in one implementation of this embodiment, in process 102, maintaining the torque of the joint motor according to the torque threshold includes: maintaining the torque of the joint motor within a rated fluctuation range based on the torque threshold.

[0074] In this implementation, as an example, maintaining the torque of the joint motor within the rated fluctuation range based on a torque threshold can be achieved by maintaining the torque of the joint motor at the torque threshold (i.e., the rated fluctuation range is 0 at this time). This allows for strict control of the joint motor's torque, minimizing the possibility of unexpected situations (such as damage to the operated object).

[0075] In this implementation, as another example, the torque of the joint motor is maintained within the rated fluctuation range based on the torque threshold. This can be achieved by maintaining the torque of the joint motor within the range of the torque threshold ± b, where b is the amplitude of the rated fluctuation range. The specific value of b can be configured based on experiments or user experience, and this implementation does not impose any specific limitations.

[0076] Optionally, in one implementation of this embodiment, when maintaining the torque of the joint motor according to the torque threshold, if the first parameter value changes beyond the rated fluctuation range before the target time is reached—for example, the first parameter value suddenly becomes less than the torque threshold, or the first parameter value fluctuates around the torque threshold momentarily and then becomes less than the torque threshold—it is generally considered to be a torque fluctuation caused by the elimination of the target object's jamming. In this case, in this implementation, the first instruction continues to be executed to ensure that the operation on the target object is in place.

[0077] Optionally, in one implementation of this embodiment, during the process of the robot operating the target object to execute the first instruction, and / or during the timing process, the following processing is performed: based on the visual detection results of the target object, determining whether the target object has been deformed or determining the degree of deformation of the target object; and determining whether to stop the first instruction based on whether the target object has been deformed or based on the degree of deformation of the target object.

[0078] By adopting this implementation method, the execution of the first command can be controlled through real-time visual detection results, which can effectively improve the safety of the robot operation process and avoid or reduce damage to the target object and the environmental equipment related to the target object during the assembly process.

[0079] This implementation method can maintain the torque within a range that does not damage the joint motor and the object being operated on, while also helping to ensure precise assembly of the object.

[0080] Figure 2 This is a flowchart illustrating a torque control method for a robot joint motor according to an embodiment of this application. The method includes the following processing steps.

[0081] 200: Before the robot executes the first instruction on the target object, obtain the assembly requirements input by the user. These assembly requirements may include attribute values ​​of the target object, or torque thresholds and target times. For example, the user-input assembly requirements can be obtained through a visual interactive interface.

[0082] 202: When the assembly requirement is the attribute value of the target object, the torque threshold and target time are determined by querying pre-stored information based on the attribute value of the target object. The pre-stored information includes the torque threshold and target time corresponding to different attribute values.

[0083] For example, the attribute value of the target object can be the name of the target object, such as a screw or screw model. Alternatively, the attribute value of the target object can be more detailed information, such as the material and density of the workpiece. The pre-stored information can be the correspondence between the name of the target object and the torque threshold and target time, or the correspondence between the target object and the torque threshold and target time under different materials and densities.

[0084] 100: During the process of the robot operating the target object to execute the first instruction, the first parameter value used to represent the torque of the joint motor is acquired in real time.

[0085] 102: When the first parameter value reaches the torque threshold, the joint motor torque is maintained according to the torque threshold and the timing is recorded, thereby maintaining the robot's operation on the target object.

[0086] 104: Depending on whether the timer has reached the target time, selectively execute the first instruction or execute a second instruction different from the first instruction. Specifically, if the timer reaches the target time, the robot is triggered to execute a second instruction different from the first instruction, and / or, if the value of the first parameter changes beyond the rated fluctuation range before the timer reaches the target time, the timer is reset and the robot is controlled to continue executing the first instruction.

[0087] In this embodiment, please refer to the description of processing 100-104. Figure 1 The descriptions in the illustrated embodiments will not be repeated here.

[0088] Using the method provided in this embodiment, before executing the first instruction, the assembly requirements input by the user are first obtained. By making the torque threshold and target time available to the user for configuration and use, the user can set the corresponding parameters according to the actual application scenario of the robot and the actual strength of the target object, so as to ensure the service life of the parts.

[0089] Optionally, in one implementation of this embodiment, a complete operation process of the robot corresponds to a complete operation program, which includes two or more instructions (e.g., a first instruction) and is used to operate two or more target objects.

[0090] Optionally, in processing 200, after generating the work program, the robot automatically extracts the target objects to be operated and presents them to the user through a visual operation interface. Simultaneously, it provides the user with configuration items for each target object, including torque thresholds and target times. The user selects the configuration items to be configured and assigns them corresponding values. After the user confirms the configuration, the robot's work program automatically writes the configuration values ​​into the work program, and then executes corresponding instructions based on the configuration values ​​during subsequent instruction execution. Furthermore, in other embodiments, a configuration update button can be provided to the user (this can be a button in the visual interface or a physical button electrically connected to the robot's control system). During the robot's operation, if the user presses the update button, the robot stops the current operation, records the current operation node (e.g., which instruction among all instructions being executed sequentially), and presents the configuration items of all target objects or target objects that need to be operated in subsequent operations through the visual interface for the user to update.

[0091] This implementation method can automatically provide users with a visual interface for configuring assembly requirements, and obtain user configuration information through the visual interface, thereby improving the flexibility of configuration.

[0092] Optionally, in one implementation of this embodiment, during the process of the robot operating the target object to execute the first instruction, and / or during the timing process, the following processing is performed: based on the visual detection results of the target object, determining whether the target object has been deformed or determining the degree of deformation of the target object; and determining whether to stop the first instruction based on whether the target object has been deformed or based on the degree of deformation of the target object.

[0093] By adopting this implementation method, the execution of the first command can be controlled through real-time visual detection results, which can effectively improve the safety of the robot operation process and avoid or reduce damage to the target object and the environmental equipment related to the target object during the assembly process.

[0094] For example, in this implementation, the image of the target object is captured in real time by a camera during the operation of the target object; target detection and target comparison are performed based on the real-time captured image of the target object (e.g., target detection and target comparison are performed on the operation object in the previous and next frame images, or target detection is performed on the operation object in the current frame image and compared with the pre-saved image or image features of the operation object); based on the comparison result (i.e. visual detection result), it is determined whether the target object has been deformed, or the degree of deformation of the target object is determined (e.g., the degree of deformation is characterized by the ratio of the deformation distance in a certain direction to the length of the target object in that direction, or the degree of deformation is characterized by the ratio of the deformed area of ​​the surface observed by the camera to the actual area of ​​the surface).

[0095] In one possible application, if the target object is not allowed to deform in principle, for example, if the target object is made of a rigid material, then upon determining that the target object has deformed, the execution of the first instruction should be stopped immediately, regardless of the degree of deformation. If the target object is allowed to deform to a certain extent in principle, for example, if the target object is made of an elastic material, then upon determining that the target object has deformed, the execution of the first instruction can be stopped immediately; alternatively, the degree of deformation can be further judged. If the degree of deformation exceeds a deformation threshold, the execution of the first instruction should be stopped; if the degree of deformation does not exceed the deformation threshold, the execution of the first instruction should continue.

[0096] In this application, the execution of the first instruction is selectively controlled based on the degree of deformation tolerance of the target object (including: not allowed, allowed, and the degree of allowed deformation). Compared with the prior art, which uniformly performs the same logic control without distinguishing the target object, this method can distinguish the target object and perform instruction control accordingly. This ensures the safety of the robot operation process while improving the flexibility and efficiency of the robot operation.

[0097] For example, the target object can be divided into two types. The first type immediately stops the current instruction (e.g., the first instruction) once deformation occurs; the second type allows deformation, but the degree of deformation cannot exceed a deformation threshold. Correspondingly, the logic described above for controlling whether the current instruction stops can be executed.

[0098] Figure 3 This is a schematic flowchart illustrating a torque control method applied to a robot joint motor according to an embodiment of this application. (Refer to...) Figure 3 The torque control method applied to robot joint motors includes the following processing steps.

[0099] Step 1: Store the current threshold values ​​for each axis motor of the robot at different weight levels in the motion control module.

[0100] In this embodiment, each joint motor of the robot has its own rated output torque value, which is different from the torque value during the robot's operation of the target object. For example, if the rated output torque value of the motor is 5N, but the user's actual assembly scenario requires a force of 1N, then the user can set the output torque percentage to 20% in the robot's torque command. The purpose of setting the torque percentage is for the robot to accurately output the force required by the user. The percentage range is 0-100%.

[0101] Step 2: The motion control module sends the status of the torque control mode currently used by the user to the drive end, including the torque value required for each axis motor to output and the duration for which the set torque is reached (i.e., the target time, or torque over-limit time).

[0102] There are three states for the robot in torque control mode: reaching the torque threshold within the user-set over-limit time, not reaching the torque threshold within the user-set over-limit time, and not reaching the user-set torque threshold. The latter two are defined as the non-over-limit state under torque control, while the first case is the over-limit state under torque control mode.

[0103] Step 3: The motion control module calculates the torque threshold (or torque limit value) for each axis of the robot and sends the limit value to the drive end for storage. Storing this value allows the drive end to continuously detect the output torque of the robot's end effector.

[0104] Torque thresholds and target times are generally related to the actual application conditions. For example, when using a robot to assemble screws on a part, to ensure the screws are tightened without damaging the part being assembled, a human typically uses a torque wrench with a fixed output torque value. The robot's torque control function can replace a human and a torque wrench to perform this assembly work. The over-limit time is set based on the strength of the part being assembled, generally 1 or 2 seconds is sufficient, but the specific setting should be analyzed based on the user's actual usage.

[0105] Specifically, the motion control module can obtain a torque threshold based on the motor specifications using the formula "output current × motor torque coefficient × user-set percentage," store this torque threshold internally, and send it to the drive unit. The drive unit then uses this torque threshold to detect the robot's torque. If the torque is reached, it returns the torque to the motion control module for further logical processing and judgment. The user can set the percentage based on the material strength of the target object. For example, the strength of the part can be obtained from ADAMS software, i.e., the maximum force and torque the part can withstand. The user can then set the torque threshold based on the required torque for assembling the part and the part's ultimate torque.

[0106] Step 4: After the drive unit learns that the user has enabled the torque control mode, it continuously monitors the torque of the joint motors that are set to torque control (for example, by monitoring the current value fed back), and feeds back the current torque of the robot to the motion control module. The motion control module (motion control end) compares the real-time torque value with the torque threshold.

[0107] Step 5: After calculating the torque conversion based on the actual current value monitored by the drive end in Step 4, the real-time current joint torque value is obtained, and the current torque value is compared with the torque threshold set by the user.

[0108] Step 6: In step 5, if the current torque of the joint motor reaches the torque threshold set by the user when the robot executes the motion command, the timeout period will start and the process will proceed to step 7; if the robot fails to reach the target time set by the user after reaching the torque threshold, the torque over-limit time will be reset to zero, the robot will continue to operate normally, and logically return to step 5 of the judgment.

[0109] In one implementation of this embodiment, in step 6, de-jitter processing can be performed before the timeout period to confirm that the torque has indeed reached the torque threshold. Specifically, when the torque limiting mode is enabled, the motion control module automatically sets the de-jitter count value to 0 (here, 'a' represents the number of de-jitter counts for ease of explanation). When the robot is detected to have reached the user-set torque threshold, 'a' is incremented by 1 in the current cycle of the motion control module. In the next cycle, the torque is checked again to see if it exceeds the limit. If it does, 'a' is incremented to 2. For example, a total of 3 cycles are checked. If the torque threshold is met in all 3 cycles, it is considered that the current torque has indeed reached the torque threshold, and the timeout period begins.

[0110] Step 7: When the torque value of the robot joint motors reaches the torque threshold in Step 6, the motion control unit times the torque value of the robot's end effector to determine whether the user-set target time has been reached. Proceed to Step 8.

[0111] Step 8: When the timer in Step 7 reaches the target time set by the user, the robot is deemed to have met the torque control mode conditions and proceeds to Step 9; if the target time set by the user is not reached, the timer is reset to zero, the robot continues to run, and logically returns to the judgment step 5.

[0112] Step 9: If the robot has reached the torque control limit (torque reaches the torque threshold and lasts for the target time) detected in Step 8, the robot will stop the current running command and execute the next motion command.

[0113] This implementation calculates the actual torque threshold based on the user-defined percentage of output torque. After reaching the threshold (e.g., the first cycle after reaching the threshold), the torque value is continuously monitored, and timing begins from the moment the threshold is reached. Instead of immediately stopping the robot's torque output upon reaching the threshold, N interrupt cycles are added after the timeout period for de-jitter counting. The system monitors whether the timeout period reaches the target time to ensure it meets the user-defined target time, preventing misjudgments of the timeout period and thus avoiding loose assembly of parts during robot assembly. Furthermore, this torque control function can be performed without the robot carrying any sensors.

[0114] Figure 4 This is a schematic diagram of a torque control system applied to a robot joint motor according to an embodiment of this application. (Refer to...) Figure 4 The torque control system includes a drive unit 40 and a motion control module 41. These will be described in detail below.

[0115] In this embodiment, the drive end 40 is used to acquire a first parameter value representing the torque of the joint motor in real time during the movement of the target joint, and feed the first parameter value back to the motion control module.

[0116] The motion control module 41 is used to control the drive end to maintain the torque of the joint motor and keep time when the first parameter value reaches the torque threshold, thereby maintaining the robot's operation on the target object. If the timer reaches the target time, the robot is triggered to execute a second instruction different from the first instruction, and / or, if the first parameter value changes beyond the rated fluctuation range before the timer reaches the target time, the timer is reset and the robot is controlled to continue executing the first instruction.

[0117] Alternatively, in one implementation of this embodiment, for a detailed description of the processing performed by the drive end 40 and the motion control module 41 and its beneficial effects, please refer to... Figure 3 The descriptions in the illustrated embodiments will not be repeated here.

[0118] This application also provides an electronic device, including a memory and a processor. The memory stores one or more computer instructions, and the processor is used to call and execute one or more computer instructions to implement the torque control method or its implementation described above for robot joint motors.

[0119] Specifically, such as Figure 5 As shown, the electronic device includes a processor 510, at least one communication bus 520, a user interface 530, at least one external communication interface 540, and a memory 550. The communication bus 520 is configured to enable communication between these components. The user interface 530 may include a display screen, and the external communication interface 540 may include standard wired and wireless interfaces. The memory 550 stores computer instructions to implement the torque control method described above. The processor 510 is used to implement the torque control method described above when executing the computer instructions stored in the memory 500.

[0120] This application also provides a computer program product that includes one or more computer instructions, which, when executed, implement the torque control method for robot joint motors described above.

[0121] This application also provides a computer-readable storage medium storing the aforementioned computer program product, which can be read, called, and executed by a processor.

[0122] This application also provides a robot that uses the torque control method for robot joint motors provided in this application for torque control, or uses the torque control system for robot joint motors provided in this application for torque control, or has the electronic equipment provided in this application.

[0123] The descriptions of the above computer program products, computer-readable storage media, and electronic devices are similar to those of the above method embodiments, and have similar beneficial effects. For any technical details not disclosed in the computer program products, computer-readable storage media, and electronic devices of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0124] In the above embodiments of this application, the descriptions of each embodiment have their own emphasis. Parts not described in detail in a certain embodiment can be referred to in the relevant descriptions of other embodiments. The steps illustrated in the related flowcharts can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be performed in a different order than that shown here. In other words, the order of steps described in the foregoing embodiments is merely an example. Reasonable adjustments to the order of steps based on the content of the embodiments of this application are also within the protection scope of the embodiments of this application.

[0125] The sequence numbers or the order of description of the various embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0126] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0127] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0128] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0129] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer, or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., digital versatile disc (DVD)), or a semiconductor medium (e.g., solid state disk (SSD)). It is worth noting that the computer-readable storage medium mentioned in the embodiments of this application can be a non-volatile storage medium; in other words, it can be a non-transient storage medium.

[0130] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.), and signals involved in the embodiments of this application are all authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the scene data of the current frame in the 3D virtual scene involved in the embodiments of this application, the client's device information, and the scene interaction information are all obtained with full authorization.

[0131] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A torque control method applied to a robot joint motor, characterized in that, The method includes: During the process of the robot operating the target object to execute the first instruction, a first parameter value representing the torque of the joint motor is acquired in real time; When the first parameter value reaches the torque threshold, the torque of the joint motor is maintained according to the torque threshold and the timing is recorded, thereby maintaining the robot's operation on the target object; If the timer reaches the target time, the robot is triggered to execute a second instruction different from the first instruction; If the value of the first parameter changes beyond the rated fluctuation range before the timer reaches the target time, the timer is reset and the robot is controlled to continue executing the first instruction. The real-time acquisition of the first parameter value representing the torque of the joint motor includes: The current value of the joint motor is acquired in real time, and the current value is used as the first parameter value; or, The current value of the joint motor is acquired in real time; The torque value of the joint motor is calculated based on the current value, and the torque value of the joint motor is used as the first parameter value. The torque threshold and the target time are related to the intensity of the target object; The higher the strength of the target object, the greater the torque threshold and / or the longer the target time.

2. The torque control method according to claim 1, characterized in that, The first parameter value reaches the torque threshold, including: The first parameter value is equal to the torque threshold and is maintained for a set time; Wherein, the set time is less than the target time, or, The set time is N interrupt cycles, where N is a positive integer not exceeding 5.

3. The torque control method according to claim 1, characterized in that, Maintaining the torque of the joint motor according to the torque threshold includes: The torque of the joint motor is maintained within the rated fluctuation range based on the torque threshold.

4. The torque control method according to claim 1, characterized in that, The method further includes: Before the robot executes the first instruction on the target object, it obtains the assembly requirements input by the user. The assembly requirements include the attribute values ​​of the target object, or include the torque threshold and the target time. When the assembly requirement is the attribute value of the target object, the torque threshold and the target time are determined by querying pre-stored information based on the attribute value of the target object, wherein the pre-stored information includes the torque threshold and target time corresponding to different attribute values.

5. The torque control method according to claim 1, characterized in that, The method further includes: During the process of the robot operating the target object to execute the first instruction, and / or during the timing process, the following processing is performed: Based on the visual detection results of the target object, determine whether the target object has been deformed or determine the degree of deformation of the target object; Whether to stop executing the first instruction depends on whether the target object has been deformed or the degree of deformation of the target object.

6. A torque control system for robot joint motors, characterized in that, The torque control system includes: Drive end: Used to acquire a first parameter value representing the torque of the joint motor in real time during the movement of the target joint, and feed the first parameter value back to the motion control module; Motion control module: used to control the drive end to maintain the torque of the joint motor and time it according to the torque threshold when the first parameter value reaches the torque threshold, thereby maintaining the robot's operation on the target object. If the timer reaches the target time, the robot is triggered to execute a second instruction different from the first instruction, and / or, If the value of the first parameter changes beyond the rated fluctuation range before the timer reaches the target time, the timer is reset and the robot is controlled to continue executing the first instruction. The real-time acquisition of the first parameter value representing the torque of the joint motor includes: The current value of the joint motor is acquired in real time, and the current value is used as the first parameter value; or, The current value of the joint motor is acquired in real time; The torque value of the joint motor is calculated based on the current value, and the torque value of the joint motor is used as the first parameter value. The torque threshold and the target time are related to the intensity of the target object; The higher the strength of the target object, the greater the torque threshold and / or the longer the target time.

7. An electronic device, characterized in that, The electronic device includes: Memory, used to store one or more computer instructions; A processor for invoking and executing the computer instructions to implement the torque control method as described in any one of claims 1-5.

8. A robot, characterized in that, The robot controls its joint motors using the torque control method as described in any one of claims 1-5, or the robot has a torque control system as described in claim 6, or the robot has an electronic device as described in claim 7.

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