Robot servo motor load rate detection method and device and medium

Abstract

The invention discloses a robot servo motor load rate detection method and device and a medium, and the method comprises the following steps: dividing robot parts according to motion joints, and measuring the quality information of each part; joint coordinates of all parts and a rotation matrix are established according to the rotation joints of the robot, and the rotation matrix comprises the rotation angle of the current axis of the robot; establishing a rod length matrix of each part of the robot according to the robot joint coordinates, and establishing a rod length matrix of each part of the robot after rotation transformation by combining the joint rotation matrix; carrying out translation and rotation transformation on the rotational inertia of the coordinate axis by the robot component to obtain the inertia of each joint of the robot after translation and rotation transformation; and calculating a joint motor load rate according to the speed reducer acceleration and deceleration capability and the motor overload capability. The method has the advantage that the load rate of each shaft joint motor of the robot in any posture can be obtained.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a method, device and medium for detecting the load rate of a robot servo motor. Background Art

[0002] The robot load rate is an indicator used to evaluate the performance of the robot under different load conditions. It describes the changes in the robot's torque, speed, acceleration and other performance indicators when carrying different loads. By analyzing and studying the robot load rate value, the robot's working ability, stability and scope of application can be evaluated, and technical support and basis can be provided for the application of the robot.

[0003] At present, the maximum overload multiples of the motors of each joint of the robot arm are mainly based on the worst working conditions of the model. The above motor overload threshold is calculated and fixed for a certain axis of a certain model of robot. Since this indicator is a fixed value, it cannot be flexibly adjusted with the robot's posture and load adjustment. In actual use, it will cause the robot's joint movement to be too conservative and fail to achieve the best effect of its design. Summary of the invention

[0004] The present application provides a method, device and medium for detecting the load rate of a robot servo motor, which has the advantage of being able to obtain the load rate of each axis joint motor of the robot in any posture.

[0005] The technical solution of this application is as follows:

[0006] On the one hand, the present application provides a method for detecting a load rate of a robot servo motor, comprising the following steps:

[0007] S1: Divide the robot parts according to the motion joints and measure the quality information of each part;

[0008] S2: Establish the joint coordinates and rotation matrix of each part according to the robot's rotation joints, where the rotation matrix includes the rotation angle of the robot's current axis;

[0009] According to the robot joint coordinates, the rod length matrix of each part of the robot is established, and the rod length matrix of each part of the robot after rotation transformation is established in combination with the joint rotation matrix;

[0010] S3: Translate and rotate the robot components about the coordinate axis moment of inertia to obtain the inertia of each joint of the robot after translation and rotation transformation;

[0011] S4: Calculate the joint motor load rate according to the acceleration and deceleration capacity of the reducer and the motor overload capacity;

[0012] According to steps S1-S4, a robot joint motor load rate detection model is constructed to obtain the load rate of the robot's corresponding axis joint motor in the current posture according to the angle of one axis of the robot.

[0013] Furthermore, for a six-axis robot, step S1 divides the robot into: a base part, a swivel part, an upper arm part, a motor base part, a lower arm part, a wrist part and a load part according to the motion joints.

[0014] Furthermore, in step S2:

[0015] Establish the joint coordinates and rotation matrix of each part according to the robot's rotation joints;

[0016] The transposition part rotates around the Z axis, and the rotation matrix is ​​as follows:

[0017]

[0018] The upper arm, motor base, and wrist rotate around the Y axis, and the rotation matrix is ​​as follows:

[0019]

[0020] The forearm part and the load part rotate around the X-axis, and the rotation matrix is ​​as follows:

[0021]

[0022] According to the robot joint coordinates, the rod length matrix of each part of the robot is established, and the rod length matrix of each part of the robot after rotation transformation is established in combination with the joint rotation matrix;

[0023] For a six-axis robot, the matrix of the arm length is the distance between the rotation center of the J2 axis and the rotation center of the J3 axis:

[0024] J2=[x2 y2 z2]

[0025] J3=[x3 y3 z3]

[0026] L dabi =[x3-x2 y3-y2 z3-z2]

[0027]

[0028] Among them, J2 and J3 are the rotation center coordinates of J2 and J3 axes respectively, Ldabi is the arm rod length matrix, J2A is the J2 axis rotation matrix, J2_Pos is the J2 axis rotation angle, and LdabiR is the arm length matrix after the arm rotates.

[0029] Further, step S3 includes the following steps:

[0030] S31: According to the translation transformation formula of the rigid body's moment of inertia about the coordinate axis, the components are translated according to the divided parts:

[0031]

[0032] Where Ixx, Iyy, Izz are the moments of inertia of the rigid body about the coordinate axes in the coordinate system, and the coordinate axes of the coordinate system O-xyz and the coordinate system O'-x'y'z' are parallel to each other;

[0033] S32: According to the rotation transformation formula of the rigid body's moment of inertia about the coordinate axis, the components are rotated according to the divided parts:

[0034]

[0035] The total transformation matrix is:

[0036] The coordinate transformation relationship between the coordinate system O-xyz and the coordinate system O-x'y'z' is:

[0037]

[0038] Among them, Tr1, Tr2, Tr3 are the coordinate transformation matrices corresponding to the rotation, Ixx, Iyy, Izz are the moments of inertia of the rigid body about each coordinate axis in the coordinate system, and the origin of the coordinate system O-xyz coincides with the origin of the coordinate system O-x'y'z';

[0039] S33: According to the above transformation formula, the center of mass inertia of each part is converted to the current joint and the front joints, and the inertia of the front parts of each joint is added to obtain the inertia of the joint after translation and rotation transformation.

[0040] Furthermore, step S4 includes the following steps:

[0041] S41: Calculate the J1 axis load rate based on the reducer acceleration and deceleration torque and S33 converted inertia;

[0042] LoadRate=Moment / I J1 / N 电机 / Reduction gear ratio J1

[0043] Loadrate

[0044] Moment- reducer torque

[0045] I J1 -J1 axis moment of inertia

[0046] N 电机-Motor rated torque

[0047] Reduction gear ratio J1 -J1 axis total speed ratio

[0048] S32: The motor's own overload multiple threshold is the upper limit of the load rate, and the S31 calculation value does not exceed the motor's own overload multiple.

[0049] On the other hand, the present application provides a robot servo motor load rate detection device, including a processor and a memory, the memory storing a computer program, and when the computer program is called and executed by the processor, the robot joint motor load rate detection model as described above is implemented, which is used to obtain the load rate of the robot's corresponding axis joint motor in the current posture according to the angle of one axis of the robot.

[0050] On the other hand, the present application provides a computer-readable medium, which stores a computer program. When the computer program is called and executed by a computer, the robot joint motor load rate detection model as described above is implemented, which is used to obtain the load rate of the robot's corresponding axis joint motor in the current posture according to the angle of one axis of the robot.

[0051] In summary, the beneficial effects of this application are:

[0052] 1. This application can obtain the load rate of each axis joint motor of the robot in any posture. The load rate of each axis joint motor of the robot can be obtained only according to the angle of each axis of the robot. The algorithm is simple;

[0053] 2. Low error rate. Taking the actual test results of a certain robot as an example, the load rate under the corresponding trajectory is collected according to a certain test trajectory, and the collected position curve is input into the program run. The actual test load rate curve of each axis prototype is compared with the load rate curve obtained by the program run. The error rate is at the order of 0.01, which is negligible.

[0054] 3. Easy to adjust. If the robot has changes in load, components or other information, you only need to modify the corresponding input items in the algorithm, which can avoid some inevitable minor errors caused by the need to measure again due to changes.

[0055] 4. Good data consistency. For various derivative models based on the same design platform, only the quality information and other parameters of the corresponding changed parts need to be modified in the program to avoid minor errors caused by measurement, and the consistency of the output calculation results is good.

[0056] 5. This application can dynamically adjust the robot load rate according to the actual operating posture of the robot. Compared with the original fixed load rate, it has a certain improvement effect on the robot's beat, which can improve the robot's work efficiency and enhance the core competitiveness of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 It is a schematic diagram of the principle of a method for detecting a load rate of a robot servo motor in one embodiment of the present application;

[0058] Figure 2 This is a comparison diagram between the program fitting curve of the J1 axis load rate of the prototype machine and the actual test curve in one embodiment of the present application;

[0059] Figure 3 yes Figure 2 A partial enlarged view of

[0060] Figure 4 This is a comparison diagram between the program fitting curve of the J2 axis load rate of the prototype machine and the actual test curve in one embodiment of the present application;

[0061] Figure 5 yes Figure 4 A partial enlarged view of

[0062] Figure 6 This is a comparison diagram between the program fitting curve of the J3 axis load rate of the prototype in one embodiment of the present application and the actual test curve;

[0063] Figure 7 yes Figure 4 A partial enlarged view of . DETAILED DESCRIPTION

[0064] The specific implementation of the present application is described in detail below with reference to the accompanying drawings.

[0065] A specific embodiment of the present application provides a method for detecting a load rate of a robot servo motor, comprising the following steps:

[0066] S1: Divide the robot parts according to the motion joints and measure the mass information of each part; further, for a general six-axis robot, step S1 divides the robot according to the motion joints into: a base part, a swivel part, an upper arm part, a motor seat part, a lower arm part, a wrist part and a load part.

[0067] S2: Establish the joint coordinates and rotation matrix of each part according to the robot's rotation joints, where the rotation matrix includes the rotation angle of the robot's current axis;

[0068] The transposition part rotates around the Z axis, and the rotation matrix is ​​as follows:

[0069]

[0070] The upper arm, motor base, and wrist rotate around the Y axis, and the rotation matrix is ​​as follows:

[0071]

[0072] The forearm part and the load part rotate around the X-axis, and the rotation matrix is ​​as follows:

[0073]

[0074] According to the robot joint coordinates, the rod length matrix of each part of the robot is established, and the rod length matrix of each part of the robot after rotation transformation is established in combination with the joint rotation matrix;

[0075] For a six-axis robot, the matrix of the arm length is the distance between the rotation center of the J2 axis and the rotation center of the J3 axis:

[0076] J2=[x2 y2 z2]

[0077] J3=[x3 y3 z3]

[0078] L dabi =[x3-x2 y3-y2 z3-z2]

[0079]

[0080] Among them, J2 and J3 are the rotation center coordinates of J2 and J3 axes respectively, Ldabi is the arm rod length matrix, J2A is the J2 axis rotation matrix, J2_Pos is the J2 axis rotation angle, and LdabiR is the arm length matrix after the arm rotates.

[0081] S3: Translate and rotate the robot components about the coordinate axis moment of inertia to obtain the inertia of each joint of the robot after translation and rotation transformation;

[0082] Step S3 includes the following steps:

[0083] S31: According to the translation transformation formula of the rigid body's moment of inertia about the coordinate axis, the components are translated according to the divided parts:

[0084]

[0085] Where Ixx, Iyy, Izz are the moments of inertia of the rigid body about the coordinate axes in the coordinate system, and the coordinate axes of the coordinate system O-xyz and the coordinate system O'-x'y'z' are parallel to each other;

[0086] S32: According to the rotation transformation formula of the rigid body's moment of inertia about the coordinate axis, the components are rotated according to the divided parts:

[0087]

[0088] The total transformation matrix is:

[0089] The coordinate transformation relationship between the coordinate system O-xyz and the coordinate system O-x'y'z' is:

[0090]

[0091] Among them, Tr1, Tr2, Tr3 are the coordinate transformation matrices corresponding to the rotation, Ixx, Iyy, Izz are the moments of inertia of the rigid body about each coordinate axis in the coordinate system, and the origin of the coordinate system O-xyz coincides with the origin of the coordinate system O-x'y'z';

[0092] S33: According to the above transformation formula, the mass center inertia of each part is converted to the current joint and the front joints. For example, the load mass center inertia needs to be converted to the load J6 joint inertia, load J5 joint inertia, load J4 joint inertia, load J3 joint inertia, load J2 joint inertia, load J1 joint inertia, and the inertia conversion of the remaining parts is similar. Add the inertia of the front parts of each joint to get the inertia of the joint after translation and rotation transformation.

[0093] S4: Calculate the joint motor load rate according to the acceleration and deceleration capacity of the reducer and the motor overload capacity;

[0094] Step S4 includes the following steps:

[0095] S41: Calculate the J1 axis load rate based on the reducer acceleration and deceleration torque and S33 converted inertia;

[0096] LoadRate=Moment / I J1 / N 电机 / Reduction gear ratio J1

[0097] Loadrate

[0098] Moment- reducer torque

[0099] I J1 -J1 axis moment of inertia

[0100] N 电机 -Motor rated torque

[0101] Reduction gear ratio J1 -J1 axis total speed ratio

[0102] The calculation method for the motor load rate of other axes is the same.

[0103] S42: The motor's own overload multiple threshold is the upper limit of the load rate, and the S41 calculation value does not exceed the motor's own overload multiple.

[0104] According to steps S1-S4, a robot joint motor load rate detection model is constructed to obtain the load rate of the robot's corresponding axis joint motor in the current posture according to the angle of one axis of the robot.

[0105] The above-mentioned robot joint motor load rate detection model is implemented through a computer program. After the same model completes the input of the mass information of each part and other contents, it only needs to input the corresponding angles of each axis of the robot in the program to obtain the load rate of the robot J1, J2, and J3 axis joint motors in the corresponding posture.

[0106] Taking the actual test results of a certain robot as an example, the load rate under the corresponding trajectory is collected according to a certain test trajectory, and the collected position curve is input into the program run, and the actual test load rate curve of each axis prototype is compared with the load rate curve obtained by the program run. The error rate is at the order of 0.01, which is negligible; the comparison curve is as follows Figure 2-7 As shown. Figure 2-7 It can be seen that the actual test load rate curve of the prototype (red dotted line) and the program fitting load rate curve (blue solid line) have the same overall trend, and the two curves almost completely overlap, with no large numerical difference, achieving the advantage of low error rate.

[0107] Another specific embodiment of the present application provides a robot servo motor load rate detection device, including a processor and a memory, the memory storing a computer program, and when the computer program is called and executed by the processor, the robot joint motor load rate detection model as described above is implemented, which is used to obtain the load rate of the robot's corresponding axis joint motor in the current posture according to the angle of one axis of the robot.

[0108] Another specific embodiment of the present application provides a computer-readable medium, which stores a computer program. When the computer program is called and executed by a computer, the robot joint motor load rate detection model as described above is implemented, which is used to obtain the load rate of the robot's corresponding axis joint motor in the current posture according to the angle of one axis of the robot.

[0109] The above is only a preferred implementation of the present application. It should be pointed out that a person skilled in the art can make several modifications and improvements without departing from the inventive concept of the present application, and these all fall within the scope of protection of the present application.

Claims

1. A method for detecting the load rate of a robot servo motor, characterized in that: The following steps are involved: S1: Divide the robot parts according to the motion joints and measure the quality information of each part; S2: Establish the joint coordinates and rotation matrix of each part according to the robot's rotation joints, where the rotation matrix includes the rotation angle of the robot's current axis; According to the robot joint coordinates, the rod length matrix of each part of the robot is established, and the rod length matrix of each part of the robot after rotation transformation is established in combination with the joint rotation matrix; S3: Translate and rotate the robot components about the coordinate axis moment of inertia to obtain the inertia of each joint of the robot after translation and rotation transformation; S4: Calculate the joint motor load rate according to the acceleration and deceleration capacity of the reducer and the motor overload capacity; According to steps S1-S4, a robot joint motor load rate detection model is constructed to obtain the load rate of the robot's corresponding axis joint motor in the current posture according to the angle of one axis of the robot.

2. The robot servo motor load rate detection method according to claim 1, characterized in that: For a six-axis robot, step S1 divides the robot into a base part, a swivel part, an upper arm part, a motor base part, a lower arm part, a wrist part and a load part according to the motion joints.

3. The robot servo motor load rate detection method according to claim 1, characterized in that: In step S2: Establish the joint coordinates and rotation matrix of each part according to the robot's rotation joints; The transposition part rotates around the Z axis, and the rotation matrix is ​​as follows: The upper arm, motor base, and wrist rotate around the Y axis, and the rotation matrix is ​​as follows: The forearm part and the load part rotate around the X axis, and the rotation matrix is ​​as follows: According to the robot joint coordinates, the rod length matrix of each part of the robot is established, and the rod length matrix of each part of the robot after rotation transformation is established in combination with the joint rotation matrix; For a six-axis robot, the matrix of the arm length is the distance between the rotation center of the J2 axis and the rotation center of the J3 axis: J2=[x2 y2 z2] J3=[x3 y3 z3] <h2 style=";text-align:left;direction:ltr">L<h2 style=";text-align:left;direction:ltr"> dabi <h2 style=";text-align:left;direction:ltr"> (x3-x2 y3-y2 z3-z2) Among them, J2 and J3 are the rotation center coordinates of J2 and J3 axes respectively, Ldabi is the arm rod length matrix, J2A is the J2 axis rotation matrix, J2_Pos is the J2 axis rotation angle, and LdabiR is the arm length matrix after the arm rotates.

4. The robot servo motor load rate detection method according to claim 1, characterized in that: Step S3 includes the following steps: S31: According to the translation transformation formula of the rigid body's moment of inertia about the coordinate axis, the components are translated according to the divided parts: Where Ixx, Iyy, Izz are the moments of inertia of the rigid body about the coordinate axes in the coordinate system, and the coordinate axes of the coordinate system O-xyz and the coordinate system O'-x'y'z' are parallel to each other; S32: According to the rotation transformation formula of the rigid body's moment of inertia about the coordinate axis, the components are rotated according to the divided parts: The total transformation matrix is: T r =T r1 T r2 T r3 ; The coordinate transformation relationship between the coordinate system O-xyz and the coordinate system O-x'y'z' is: Among them, Tr1, Tr2, Tr3 are the coordinate transformation matrices corresponding to the rotation, Ixx, Iyy, Izz are the moments of inertia of the rigid body about each coordinate axis in the coordinate system, and the origin of the coordinate system O-xyz coincides with the origin of the coordinate system O-x'y'z'; S33: According to the above transformation formula, the center of mass inertia of each part is converted to the current joint and the front joints, and the inertia of the front parts of each joint is added to obtain the inertia of the joint after translation and rotation transformation.

5. The robot servo motor load rate detection method according to claim 1, characterized in that: Step S4 includes the following steps: S41: Calculate the J1 axis load rate based on the reducer acceleration and deceleration torque and S33 converted inertia; LoadRate=Moment / I J1 / N 电机 / Reductiongearratio J1 Loadrate Moment- reducer torque I J1 -J1 axis moment of inertia N 电机 -Motor rated torque Reduction gear ratio J1 -J1 axis total speed ratio S32: The motor's own overload multiple threshold is the upper limit of the load rate, and the S31 calculation value does not exceed the motor's own overload multiple.

6. A robot servo motor load rate detection device, characterized in that: It includes a processor and a memory, the memory stores a computer program, and when the computer program is called and executed by the processor, it implements the robot joint motor load rate detection model as described in any one of claims 1 to 5, which is used to obtain the load rate of the robot's corresponding axis joint motor in the current posture according to the angle of one axis of the robot.

7. A computer-readable medium, characterized in that The computer-readable medium stores a computer program, which, when called and executed by a computer, implements the robot joint motor load rate detection model as described in any one of claims 1 to 5, and is used to obtain the load rate of the robot's corresponding axis joint motor in the current posture based on the angle of one axis of the robot.

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