A method for improving the joint accuracy of industrial robots based on CAE dynamic simulation

Abstract

The invention discloses a method for improving the precision of industrial robot joints based on CAE dynamic simulation. The invention relates to the technical field of industrial robots. The joints of the industrial robot are dynamically simulated, the joints of the industrial robot are optimized using simulation result information, compensation information of instruction information is calculated using a compensation unit, simulation evaluation is performed on the optimized joints of the industrial robot, and simulation results before and after optimization are compared. The advantages of the invention are that the precision and rigidity of the joints of the industrial robot are significantly improved, trajectory deviation is reduced, friction is reduced, and the service life of mechanical parts is extended through CAE dynamic simulation and optimization design. The application of the real-time compensation mechanism further improves the motion precision and reliability of the industrial robot, so that the industrial robot has a wider application prospect in the field of industrial automation, promotes the innovation and development of industrial robot technology, and provides new technical paths and solutions for the fields of intelligent manufacturing and industrial automation.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a method for improving the joint accuracy of an industrial robot based on CAE dynamic simulation. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have certain automation and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals. The installation of robots is carried out on-site, and the actual production environment will be affected by aspects such as space utilization, which results in certain restrictions on many postures of robots. This can easily lead to vibrations, displacements, and other phenomena in the actual work of industrial robots, and ultimately lead to the inability of industrial robots to operate at the designed speed;

[0003] When the common methods for improving the joint accuracy of industrial robots are used, the joint accuracy is low, and the trajectory is prone to large deviations during operation. At the same time, the friction at the joints of the industrial robots cannot be reduced, resulting in a reduced service life and prone to accuracy deviations. Therefore, we propose a method for improving the joint accuracy of industrial robots based on CAE dynamic simulation. Summary of the invention

[0004] The purpose of the present invention is to provide a method for improving the joint accuracy of an industrial robot based on CAE dynamic simulation.

[0005] In order to solve the problems raised in the above background technology, the present invention provides the following technical solutions: a method for improving the joint accuracy of an industrial robot based on CAE dynamic simulation, comprising the following steps:

[0006] S100, collecting motion state information and wear information of the industrial robot joints under different working conditions, and using CAE simulation software to dynamically simulate the industrial robot joints;

[0007] S200, analyzing the stress condition, wear degree and motion trajectory of the joints by simulating the motion state information of the industrial robot joints under different working conditions, obtaining the stress condition, wear degree and key parameter information in the motion trajectory, generating simulation result information, and optimizing the industrial robot joints using the simulation result information;

[0008] S300, collecting motion instruction information issued by the industrial robot, generating instruction information, then monitoring the motion state of the industrial robot joint in real time, generating execution information, analyzing the deviation between the instruction information and the execution information, and establishing a compensation unit, using the compensation unit to calculate the compensation information of the instruction information, realizing real-time compensation, and generating an execution instruction;

[0009] S400, transmitting the execution instruction to the inside of the industrial robot, generating an optimization plan, using CAE dynamic simulation technology to simulate and evaluate the optimized industrial robot joints, verifying the optimization effect by comparing the simulation results before and after the optimization, and further adjusting and optimizing the design according to the evaluation results;

[0010] S500, obtaining items that can reduce wear, analyzing methods for reducing wear on the joints of the industrial robot, formulating a lubrication plan, and then collecting information on the effect of the lubrication plan on the industrial robot, and analyzing the effect of the lubrication plan on the industrial robot over time, and generating time lubrication change information;

[0011] S600, formulate lubrication level areas for time lubrication change information, extract lubrication execution intervals from the lubrication plan, and then establish a use cycle, analyze wear reduction information and additional lubrication costs of the industrial robot joints within the use cycle;

[0012] S700, calculate the effectiveness ratio between the wear reduction information and the additional lubrication cost in different lubrication level areas, and at the same time establish a fine-tuning unit, and use the fine-tuning unit to adjust the lubrication execution interval. At this time, the effectiveness ratio between the wear reduction information and the additional lubrication cost of the industrial robot joints will be recalculated to provide data support for users.

[0013] As a further solution of the present invention: in S200, when generating simulation result information, a basic plan is formulated according to the key parameter information of the current industrial robot, and then any key parameter information in the basic plan is adjusted to generate a test plan, which is recorded, and then a basic plan adjustment unit is established based on the recorded information.

[0014] As a further solution of the present invention: in S200, after formulating the basic plan, the industrial robot joint structure, material and lubrication method are adjusted, and the test plan is regenerated to reduce the friction and wear of the industrial robot joints during movement, improve the stiffness and precision of the industrial robot joints, and optimize the transmission mechanism of the joints to ensure that the joints maintain smooth transmission during multi-directional rotation.

[0015] As a further solution of the present invention: in S200, the basic plan adjustment unit includes a plan editing function and a parameter range limitation function, wherein the user uses the plan editing function to overwrite the basic plan with the plan to be used, formulates a new basic plan, and uses the parameter range limitation function to further limit the adjustment range of key parameter information.

[0016] As a further solution of the present invention: in the above S300, when the compensation unit is used to perform compensation calculation on the instruction information, the instruction information is set to Z1, Z2, Z3, ..., ZF , assuming that the operation information is Y1, Y2, Y3, ..., Y F , let the compensation information be B 补偿 ;

[0017] B 补偿 =Z1-Y1、Z2-Y2、Z3-Y3、……、Z F -Y F

[0018] The compensation information is calculated by the above formula, and the execution instruction information is assumed to be Z 执行 ;

[0019] Z 执行 =Z1+B 补偿 、Z2+B 补偿 、Z3+B 补偿 ,……,Z F +B 补偿

[0020] The execution instruction information is calculated according to the above formula.

[0021] As a further solution of the present invention: In the above S600, when formulating the lubrication level area, the regional index and the cycle range are established synchronously, and then the effect change of the lubrication scheme within the cycle range is extracted to generate an effect line chart, and the peak lubrication information and the valley lubrication effect information within the cycle range are analyzed in chronological order, and the best lubrication effect information is set as Z 最佳 , let the valley lubrication effect information be Z 最差 , let the effect ratio be X 比值 , when the time of the best lubrication effect is earlier than the time of the valley lubrication effect information:

[0022]

[0023] When the time of the best lubrication effect is later than the time of the valley lubrication effect information:

[0024]

[0025] The effect ratio was calculated according to the above formula.

[0026] As a further solution of the present invention: in S600, after calculating the effect ratio, the regional index is set to Q 指数 ;

[0027] When |X 比值 |≥Q 指数 , and X 比值 When ≤0, the time corresponding to the peak lubrication information is judged as the starting time of the lubrication effect;

[0028] When |X 比值|≥Q 指数 , and X 比值 When >0, the time corresponding to the peak lubrication information is judged as the end time of the lubrication effect;

[0029] The time range of peak lubrication effect can be preliminarily determined based on the above method.

[0030] As a further solution of the present invention: in the above S600, when determining the time range of the peak lubrication effect, when |X 比值 |Always less than Q 指数 When the lubrication effect threshold is established, the two time points where the lubrication effect threshold is located are extracted, and the time range of the peak lubrication effect is determined using the two time points. The time range calculated by the effect ratio has a higher priority than the time range determined by using the two time points to determine the peak lubrication effect.

[0031] As a further solution of the present invention: In the above S700, when calculating the effectiveness ratio between the wear reduction information and the additional lubrication cost in different lubrication level areas, the wear reduction information is M 降低 , let the additional lubrication cost be X 成本 , let the effectiveness ratio be C 比值 ;

[0032]

[0033] The effectiveness ratio is calculated by the above formula, and the best effectiveness ratio and the worst effectiveness ratio in different lubrication grade areas are analyzed.

[0034] By adopting the above technical solution, compared with the prior art, the beneficial effects of the present invention are:

[0035] 1. The present invention significantly improves the accuracy and rigidity of industrial robot joints, reduces trajectory deviation, improves production efficiency and product quality, reduces friction, prolongs the service life of mechanical parts, and reduces maintenance and replacement costs through CAE dynamic simulation and optimization design. The application of real-time compensation mechanism further improves the motion accuracy and reliability of industrial robots, making them have a wider application prospect in the field of industrial automation, promoting the innovation and development of industrial robot technology, and providing new technical paths and solutions for intelligent manufacturing and industrial automation. In addition, the influence of lubrication schemes on joint wear at different time points can be clearly understood, providing data support for evaluating the advantages and disadvantages of lubrication schemes, making the control of industrial robots more precise.

[0036] 2. The present invention generates and records multiple test schemes by adjusting the key parameter information in the basic scheme, which helps to screen out the best scheme from many schemes and find the parameter configuration that is most suitable for the joints of the industrial robot, so as to better improve the joint accuracy, and can ensure the transmission stability, enhance the stability and reliability of the robot movement, and then improve the overall working performance of the joint, improve the flexibility and adaptability of the optimization scheme design, make the optimization process more in line with the actual application scenario, improve the optimization effect, ensure that the compensation information accurately reflects the adjustment amount required for the joint movement, and effectively correct the joint movement error of the industrial robot;

[0037] 3. By establishing regional indexes and cycle ranges, the present invention can help users understand the performance of lubrication solutions throughout the entire use cycle, help to accurately grasp the timing of lubrication, ensure that lubrication measures are implemented at the best time, maximize the lubrication effect, reduce industrial robot joint wear, and extend the service life of industrial robot joints. By comparing the effectiveness ratios of different solutions, users can choose the most cost-effective lubrication solution, while reducing joint wear and ensuring robot performance, reasonably controlling lubrication costs and maximizing economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 Schematic diagram of the method steps in an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0040] In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0041] Embodiment 1:

[0042] Therefore, in order to effectively solve the above problems, the present application proposes a method for improving the joint accuracy of industrial robots based on CAE dynamic simulation, as shown in the accompanying drawings of the specification. Figure 1 As shown, the following steps are included:

[0043] S100, collecting motion state information and wear information of the industrial robot joints under different working conditions, and using CAE simulation software to dynamically simulate the industrial robot joints;

[0044] S200, analyzing the stress condition, wear degree and motion trajectory of the joints by simulating the motion state information of the industrial robot joints under different working conditions, obtaining the stress condition, wear degree and key parameter information in the motion trajectory, generating simulation result information, and optimizing the industrial robot joints using the simulation result information;

[0045] S300, collecting motion instruction information issued by the industrial robot, generating instruction information, then monitoring the motion state of the industrial robot joint in real time, generating execution information, analyzing the deviation between the instruction information and the execution information, and establishing a compensation unit, using the compensation unit to calculate the compensation information of the instruction information, realizing real-time compensation, and generating an execution instruction;

[0046] S400, transmitting the execution instruction to the inside of the industrial robot, generating an optimization plan, using CAE dynamic simulation technology to simulate and evaluate the optimized industrial robot joints, verifying the optimization effect by comparing the simulation results before and after the optimization, and further adjusting and optimizing the design according to the evaluation results;

[0047] S500, obtaining items that can reduce wear, analyzing methods for reducing wear on the joints of the industrial robot, formulating a lubrication plan, and then collecting information on the effect of the lubrication plan on the industrial robot, and analyzing the effect of the lubrication plan on the industrial robot over time, and generating time lubrication change information;

[0048] Taking into account the robot's workload, operating speed, working environment and other factors, a customized lubrication strategy is adopted, such as using lubricants of different types and viscosities for different joints;

[0049] S600, formulate lubrication level areas for time lubrication change information, extract lubrication execution intervals from the lubrication plan, and then establish a use cycle, analyze wear reduction information and additional lubrication costs of the industrial robot joints within the use cycle;

[0050] Considering the operation continuity and maintenance convenience of industrial robots, an intelligent scheduling algorithm is used to determine the optimal lubrication execution interval. Taking into account the design life of industrial robots, technology update cycle and other factors, a comprehensive analysis is conducted on the wear reduction information and new lubrication costs of industrial robot joints during the use cycle.

[0051] S700, calculate the effectiveness ratio between the wear reduction information and the additional lubrication cost in different lubrication level areas, and at the same time establish a fine-tuning unit, and use the fine-tuning unit to adjust the lubrication execution interval. At this time, the effectiveness ratio between the wear reduction information and the additional lubrication cost of the industrial robot joints will be recalculated to provide data support for users.

[0052] Specific workflow: Dynamically simulate the joints of industrial robots, analyze the stress conditions, wear levels, and motion trajectories of the joints, obtain key parameter information in the stress conditions, wear levels, and motion trajectories, optimize the joints of industrial robots, monitor the motion status of the joints of industrial robots in real time, use the compensation unit to calculate the compensation information of the instruction information, realize real-time compensation, transmit the execution instructions to the inside of the industrial robot, simulate and evaluate the optimized joints of industrial robots, verify the optimization effect by comparing the simulation results before and after optimization, and further adjust and optimize the design according to the evaluation results, formulate a lubrication plan, collect information on the effect of the lubrication plan on the industrial robot, and analyze the changes in the effect of the lubrication plan on the joints of industrial robots over time, analyze the wear reduction information and the new lubrication cost of the joints of industrial robots during the use cycle, and calculate the effectiveness ratio between the wear reduction information and the new lubrication cost in different lubrication level areas;

[0053] Furthermore, through CAE dynamic simulation and optimization design, the accuracy and stiffness of industrial robot joints can be significantly improved, trajectory deviation can be reduced, production efficiency and product quality can be improved, friction can be reduced, the service life of mechanical parts can be extended, and maintenance and replacement costs can be reduced. The application of real-time compensation mechanism can further improve the motion accuracy and reliability of industrial robots, giving them a broader application prospect in the field of industrial automation, promoting the innovation and development of industrial robot technology, and providing new technical paths and solutions for intelligent manufacturing and industrial automation. In addition, the impact of lubrication schemes on joint wear at different time points can be clearly understood, providing data support for evaluating the pros and cons of lubrication schemes, making the control of industrial robots more precise.

[0054] Embodiment 2:

[0055] Based on the first embodiment, as shown in the accompanying drawings of the specification Figure 1 As shown, in S200, when generating simulation result information, a basic plan is formulated according to the key parameter information of the current industrial robot, and then any key parameter information in the basic plan is adjusted to generate a test plan, and the test plan is recorded, and then a basic plan adjustment unit is established according to the recorded information;

[0056] In the S200, after the basic plan is formulated, the joint structure, material and lubrication method of the industrial robot are adjusted, and the test plan is regenerated to reduce the friction and wear of the joints of the industrial robot during the movement, improve the stiffness and precision of the joints of the industrial robot, and optimize the transmission mechanism of the joints to ensure that the joints maintain the stability of transmission in multi-directional rotation;

[0057] In S200, the basic scheme adjustment unit includes a scheme editing function and a parameter range limiting function, wherein the user uses the scheme editing function to cover the basic scheme with the scheme to be used, formulates a new basic scheme, and uses the parameter range limiting function to further limit the adjustment range of the key parameter information;

[0058] Adopt parameter combination optimization algorithm to adjust multiple key parameters in different combinations, rather than just limiting the change of a single parameter, to generate a more comprehensive test solution set;

[0059] Through microstructure analysis and performance testing of different materials, materials with high wear resistance, low friction coefficient and good thermal stability are selected, and the temperature, pressure, speed and other operating parameters of the joints are monitored in real time. The lubricant supply amount and supply frequency are automatically adjusted according to the preset algorithm to achieve precise lubrication, improve lubrication effect and reduce lubricant waste;

[0060] In the above S300, when the compensation unit is used to perform compensation calculation on the instruction information, the instruction information is assumed to be Z1, Z2, Z3, ..., Z F , assuming that the operation information is Y1, Y2, Y3, ..., Y F , let the compensation information be B 补偿 ;

[0061] B 补偿 =Z1-Y1、Z2-Y2、Z3-Y3、……、Z F -Y F

[0062] The compensation information is calculated by the above formula, and the execution instruction information is assumed to be Z 执行 ;

[0063] Z 执行 =Z1+B 补偿 、Z2+B 补偿 、Z3+B 补偿 ,……,Z F +B 补偿

[0064] Calculate the execution instruction information according to the above formula;

[0065] Specific workflow: formulate a basic plan according to the current key parameter information of the industrial robot, adjust the joint structure, material and lubrication method of the industrial robot, regenerate the test plan, reduce the friction and wear of the industrial robot joints during movement, improve the stiffness and precision of the industrial robot joints, and optimize the transmission mechanism of the joints to ensure that the joints maintain the stability of transmission in multi-directional rotation. The user uses the plan editing function to cover the basic plan with the plan to be used, and uses the parameter range limitation function to further limit the adjustment range of the key parameter information, and calculate the execution instruction information;

[0066] Furthermore, by adjusting the key parameter information in the basic solution to generate and record multiple test solutions, it is helpful to screen out the best solution from many solutions and find the parameter configuration that best suits the industrial robot joints, so as to better improve the joint accuracy. It can also ensure the smoothness of the transmission, enhance the stability and reliability of the robot's movement, and thus improve the overall working performance of the joints. It can also improve the flexibility and adaptability of the optimization solution design, make the optimization process more in line with the actual application scenarios, improve the optimization effect, ensure that the compensation information accurately reflects the adjustment required for the joint movement, and effectively correct the industrial robot joint movement errors.

[0067] Embodiment three:

[0068] Based on the second embodiment, as shown in the accompanying drawings of the specification Figure 1 As shown, in S600, when formulating the lubrication level area, the regional index and the cycle range are established synchronously, and then the effect change of the lubrication scheme within the cycle range is extracted to generate an effect line chart, and the peak lubrication information and the valley lubrication effect information within the cycle range are analyzed in chronological order. The best lubrication effect information is set as Z 最佳 , let the valley lubrication effect information be Z 最差 , let the effect ratio be X 比值 , when the time of the best lubrication effect is earlier than the time of the valley lubrication effect information:

[0069]

[0070] When the time of the best lubrication effect is later than the time of the valley lubrication effect information:

[0071]

[0072] The effect ratio was calculated according to the above formula;

[0073] In S600, after calculating the effect ratio, the regional index is set to Q 指数 ;

[0074] When |X 比值 |≥Q 指数 , and X 比值When ≤0, the time corresponding to the peak lubrication information is judged as the starting time of the lubrication effect;

[0075] When |X 比值 |≥Q 指数 , and X 比值 When >0, the time corresponding to the peak lubrication information is judged as the end time of the lubrication effect;

[0076] Based on the above method, the time range of peak lubrication effect is preliminarily determined;

[0077] In the step S600, when determining the time range of the peak lubrication effect, when |X 比值 |Always less than Q 指数 When the lubrication effect threshold is established, the two time points where the lubrication effect threshold is located are extracted, and the time range of the peak lubrication effect is determined by using the two time points. The time range calculated by the effect ratio has a higher priority than the time range of the peak lubrication effect determined by using the two time points.

[0078] When the starting time of the time range of the peak lubrication effect is determined, but the ending time of the time range of the peak lubrication effect is not determined, the lubrication effect threshold is used to obtain the ending time of the time corresponding to the peak lubrication information. At this time, the starting time of the time range of the peak lubrication effect is combined with the ending time determined by the lubrication effect threshold to generate the time range of the peak lubrication effect;

[0079] In the above S700, when calculating the effectiveness ratio between the wear reduction information and the additional lubrication cost in different lubrication level areas, the wear reduction information is assumed to be M 降低 , let the additional lubrication cost be X 成本 , let the effectiveness ratio be C 比值 ;

[0080]

[0081] The effectiveness ratio is calculated by the above formula, and the best and worst effectiveness ratios in different lubrication grade areas are analyzed;

[0082] Specific workflow: Establish regional index and cycle range, calculate effect ratio, preliminarily determine the time range of peak lubrication effect, and when determining the time range of peak lubrication effect, when |X appears 比值 |Always less than Q 指数 When the lubrication effect threshold is established, the two time points where the lubrication effect threshold is located are extracted, and the time range of the peak lubrication effect is determined using the two time points. The time range calculated by the effect ratio has a higher priority than the time range of the peak lubrication effect determined using the two time points, and the best effect ratio and the worst effect ratio in different lubrication level areas are analyzed;

[0083] Furthermore, by establishing regional indexes and cycle ranges, users can understand the performance of lubrication solutions throughout their entire life cycle, help accurately grasp the timing of lubrication, ensure that lubrication measures are implemented at the best time, maximize the lubrication effect, reduce industrial robot joint wear, and extend the service life of industrial robot joints. By comparing the effectiveness ratios of different solutions, users can choose the most cost-effective lubrication solution, which can reduce joint wear and ensure robot performance while reasonably controlling lubrication costs and maximizing economic benefits.

[0084] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A method for improving the joint accuracy of an industrial robot based on CAE dynamic simulation, characterized in that: The following steps are involved: S100, collecting motion state information and wear information of the industrial robot joints under different working conditions, and using CAE simulation software to dynamically simulate the industrial robot joints; S200, analyzing the stress condition, wear degree and motion trajectory of the joints by simulating the motion state information of the industrial robot joints under different working conditions, obtaining the stress condition, wear degree and key parameter information in the motion trajectory, generating simulation result information, and optimizing the industrial robot joints using the simulation result information; S300, collecting motion instruction information issued by the industrial robot, generating instruction information, then monitoring the motion state of the industrial robot joint in real time, generating execution information, analyzing the deviation between the instruction information and the execution information, and establishing a compensation unit, using the compensation unit to calculate the compensation information of the instruction information, realizing real-time compensation, and generating an execution instruction; S400, transmitting the execution instruction to the inside of the industrial robot, generating an optimization plan, using CAE dynamic simulation technology to simulate and evaluate the optimized industrial robot joints, verifying the optimization effect by comparing the simulation results before and after the optimization, and further adjusting and optimizing the design according to the evaluation results; S500, obtaining items that can reduce wear, analyzing methods for reducing wear on the joints of the industrial robot, formulating a lubrication plan, and then collecting information on the effect of the lubrication plan on the industrial robot, and analyzing the effect of the lubrication plan on the industrial robot over time, and generating time lubrication change information; S600, formulate lubrication level areas for time lubrication change information, extract lubrication execution intervals from the lubrication plan, and then establish a use cycle, analyze wear reduction information and additional lubrication costs of the industrial robot joints within the use cycle; S700, calculate the effectiveness ratio between the wear reduction information and the additional lubrication cost in different lubrication level areas, and at the same time establish a fine-tuning unit, and use the fine-tuning unit to adjust the lubrication execution interval. At this time, the effectiveness ratio between the wear reduction information and the additional lubrication cost of the industrial robot joints will be recalculated to provide data support for users.

2. The method for improving the joint accuracy of an industrial robot based on CAE dynamic simulation according to claim 1, characterized in that: In S200, when generating simulation result information, a basic plan is formulated according to the key parameter information of the current industrial robot, and then any key parameter information in the basic plan is adjusted to generate a test plan and record it, and then a basic plan adjustment unit is established based on the recorded information.

3. The method for improving the joint accuracy of an industrial robot based on CAE dynamic simulation according to claim 2, characterized in that: In S200, after formulating the basic plan, the joint structure, material and lubrication method of the industrial robot are adjusted, and the test plan is regenerated to reduce the friction and wear of the industrial robot joints during movement, improve the stiffness and precision of the industrial robot joints, and optimize the transmission mechanism of the joints to ensure that the joints maintain smooth transmission during multi-directional rotation.

4. The method for improving the joint accuracy of an industrial robot based on CAE dynamic simulation according to claim 3 is characterized in that: In S200, the basic scheme adjustment unit includes a scheme editing function and a parameter range limiting function, wherein the user uses the scheme editing function to overwrite the basic scheme with the scheme to be used, formulates a new basic scheme, and uses the parameter range limiting function to further limit the adjustment range of key parameter information.

5. The method for improving the joint accuracy of an industrial robot based on CAE dynamic simulation according to claim 4, characterized in that: In the above S300, when the compensation unit is used to perform compensation calculation on the instruction information, the instruction information is assumed to be Z1, Z2, Z3, ..., Z F , assuming that the operation information is Y1, Y2, Y3, ..., Y F , let the compensation information be B 补偿 ; <h2 style=";text-align:left;direction:ltr">B<h2 style=";text-align:left;direction:ltr"> 补偿 <h2 style=";text-align:left;direction:ltr"> (Z1-Y1, Z2-Y2, Z3-Y3,……, Z)<h2 style=";text-align:left;direction:ltr"> F <h2 style=";text-align:left;direction:ltr"> -Y<h2 style=";text-align:left;direction:ltr"> F The compensation information is calculated by the above formula, and the execution instruction information is assumed to be Z 执行 ; Z 执行 =Z1+B 补偿 、Z2+B 补偿 、Z3+B 补偿 、……、Z F +B 补偿 The execution instruction information is calculated according to the above formula.

6. The method for improving the joint accuracy of an industrial robot based on CAE dynamic simulation according to claim 1, characterized in that: In the above S600, when formulating the lubrication level area, the regional index and the cycle range are established synchronously, and then the effect change of the lubrication scheme within the cycle range is extracted to generate an effect line chart, and the peak lubrication information and the valley lubrication effect information within the cycle range are analyzed in chronological order. The best lubrication effect information is set as Z. 最佳 , let the valley lubrication effect information be Z 最差 , let the effect ratio be X 比值 , when the time of the best lubrication effect is earlier than the time of the valley lubrication effect information: When the time of the best lubrication effect is later than the time of the valley lubrication effect information: The effect ratio was calculated according to the above formula.

7. The method for improving the joint accuracy of an industrial robot based on CAE dynamic simulation according to claim 6, characterized in that: In S600, after calculating the effect ratio, the regional index is set to Q 指数 ; When |X 比值 |≥Q 指数 , and X 比值 When ≤0, the time corresponding to the peak lubrication information is judged as the starting time of the lubrication effect; When |X 比值 |≥Q 指数 , and X 比值 When >0, the time corresponding to the peak lubrication information is judged as the end time of the lubrication effect; The time range of peak lubrication effect can be preliminarily determined based on the above method.

8. The method for improving the joint accuracy of an industrial robot based on CAE dynamic simulation according to claim 7, characterized in that: In the step S600, when determining the time range of the peak lubrication effect, when |X 比值 |Always less than Q 指数 When the lubrication effect threshold is established, the two time points where the lubrication effect threshold is located are extracted, and the time range of the peak lubrication effect is determined using the two time points. The time range calculated by the effect ratio has a higher priority than the time range determined by using the two time points to determine the peak lubrication effect.

9. The method for improving the joint accuracy of an industrial robot based on CAE dynamic simulation according to claim 1, characterized in that: In the above S700, when calculating the effectiveness ratio between the wear reduction information and the additional lubrication cost in different lubrication level areas, the wear reduction information is assumed to be M 降低 , let the additional lubrication cost be X 成本 , let the effectiveness ratio be C 比值 ; The effectiveness ratio is calculated by the above formula, and the best effectiveness ratio and the worst effectiveness ratio in different lubrication grade areas are analyzed.

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