Multi-drive online combined control method and system of industrial robot and storage medium

Abstract

The invention relates to the technical field of industrial robot control, and discloses a multi-drive online combined control method and system of an industrial robot and a storage medium. Based on the first driver and the second driver of the same control point, the first driver is initialized to output power, the second driver is activated to be in a preheating state, and pulse power is output. Based on a preset control action, first driver electrical data are collected in real time, robot posture data are collected when the first driver electrical data accord with first electrical template data, and a first state value is calculated; and when the attitude data accords with the second attitude template, collecting latest electrical data, calculating a second state value, and then obtaining a comprehensive intervention value. And if the comprehensive intervention value is greater than the intervention reference value, controlling the second driver to output power, and performing positive correlation adjustment on the power according to the intervention difference value. According to the method, through dual-drive cooperation and dynamic regulation and control, power redundancy is achieved, and the heavy-load operation adaptability and the system stability of the industrial robot are improved.

Description

Technical Field

[0001] The present application relates to the technical field of industrial robot control, and in particular to a multi-drive online joint control method, system, and storage medium for an industrial robot. Background Art

[0002] With the deepening integration of industrialization and intelligent construction, industrial robots are becoming a core driving force for the industry's development. As traditional construction transitions toward automated and intelligent operations, industrial robots, with their high precision, high efficiency, and high safety, are widely used in scenarios such as concrete pouring and component installation.

[0003] Compared to industrial robots in general fields, industrial robots in the construction field face more complex operating environments and task requirements. Industrial robots in general fields mostly perform repetitive tasks in structured workshops, where the environment is stable and the load is fixed. Industrial robots in the construction field, on the other hand, must operate in unstructured scenarios such as open-air construction sites and aerial work platforms. They must not only cope with challenges such as inclement weather and changing terrain, but also complete high-intensity tasks such as moving heavy components and complex spatial positioning. These differences require industrial robots in the construction field to have stronger environmental adaptability, greater load capacity, and more reliable power transmission systems to ensure efficient and safe operations.

[0004] During actual construction, industrial robots in the construction industry often need to move heavy building components, severely testing the load-bearing capacity of their joint drive systems. Insufficient joint drive force not only leads to inefficient operations but can also cause accidents such as falling components and equipment overturning. Therefore, to ensure construction safety and operational continuity, redundant force design is required in the robot's joints. Summary of the Invention

[0005] In order to achieve redundant force at the joints of a robot, the present application provides a multi-drive online joint control method, system and storage medium for an industrial robot.

[0006] In a first aspect, the present application provides a multi-drive online joint control method for an industrial robot, which adopts the following technical solution: A multi-drive online joint control method for an industrial robot comprises the following steps: Initializing the first and second drivers based on a first driver and a second driver located at the same control point, wherein in an initial state, the first driver is controlled to output a first driving power to the control point, and the second driver is activated and put into a preheating state, wherein the preheating state is that the second driver outputs a pulse power to the control point; Based on a preset control action, electrical data of the first driver is collected in real time, and when the electrical data meets the preset first electrical template data, posture data of the robot is collected; and a first state value is calculated based on the posture data and the preset first posture template data; When the posture data conforms to a preset second posture template, collecting the latest electrical data, and calculating a second state value based on the latest electrical data and the preset second electrical template data; calculating a comprehensive intervention value according to the first state value and the second state value; If the comprehensive intervention value is greater than a preset intervention reference value, controlling the second driver to output a second driving power to the control point; An intervention difference between the comprehensive intervention value and the intervention reference value is calculated; and the second driving power is adjusted in a positive correlation according to the intervention difference.

[0007] By adopting the above technical solution, the control point can be the joint of the robot, and the first driver and the second driver are set at the control point. Under normal circumstances, the first driver outputs power to the control point to complete the operation process. During the operation of the first driver, the working status of the first driver is detected in real time; when the driving power of the first driver is insufficient to complete the construction process, the second driver, which is always in the preheating state, outputs the second driving power to the control point to support the control point to complete the construction process, and realize surplus force at the joint of the robot. By reserving power redundancy, it can not only meet the needs of heavy-load operations, but also maintain stable operation of the system when there is a sudden overload or the performance of the drive components is attenuated.

[0008] Optionally, the method further comprises the following steps: controlling the power change of the first driver at a preset first change speed; controlling the power change of the second driver at a preset second change speed; Obtaining a first rated power of the first driver and a second rated power of the second driver; calculating a rated power difference between the first rated power and the second rated power; The first change speed is adjusted inversely according to the rated power difference, wherein the larger the rated power difference is, the smaller the first change speed is; and the smaller the rated power difference is, the larger the first change speed is; The second change speed is adjusted in positive correlation with the rated power difference; the larger the rated power difference is, the larger the second change speed is; the smaller the rated power difference is, the smaller the second change speed is.

[0009] By adopting the above technical solution, the change curve of the first drive power is controlled according to the difference in rated power. When the first drive power is greater than the second drive power, the first drive power changes slowly, allowing the second drive to intervene, which is conducive to making the force applied to the object change more smoothly; when the second drive power changes quickly, the second drive can adjust the second force applied to the object more quickly when the second drive intervenes, which is conducive to a smoother change.

[0010] Optionally, the method further comprises the following steps: controlling the power change of the first driver at a preset first change speed; controlling the power change of the second driver at a preset second change speed; Acquire a first real-time power of the first driver and a second real-time power of the second driver; Filtering the first real-time power based on a preset first time window, and filtering the second real-time power based on a preset second time window; Calculating a real-time power difference between the first real-time power and the second real-time power; adjusting the first change speed inversely according to the real-time power difference; the larger the real-time power difference is, the smaller the first change speed is; and the smaller the real-time power difference is, the larger the first change speed is; The second change speed is adjusted in a positive correlation with the real-time power difference; the larger the real-time power difference is, the larger the second change speed is; the smaller the real-time power difference is, the smaller the second change speed is.

[0011] By adopting the above technical solution, the change curve of the first driving power is controlled according to the difference in real-time power, and the change speed of the first driving power and the second driving power can adapt to the actual situation of the current object, so that the force adjustment of the object is faster and the change is smoother.

[0012] Optionally, the method further comprises the following steps: Calculating a first arrival time when the electrical data meets a preset first electrical template data; The intervention reference value is adjusted according to the anti-correlation of the first arrival time; the shorter the first arrival time is, the larger the intervention reference value is; the longer the first arrival time is, the smaller the intervention reference value is.

[0013] By adopting the above technical solution, the first arrival time can reflect the actual electrical condition of the first driver, and adjusting the intervention reference value according to the actual electrical condition can make the control intervention of the second driver more in line with the actual electrical condition.

[0014] Optionally, the method further comprises the following steps: Calculating a second arrival time when the posture data meets a preset second posture template; The frequency of the pulse power is adjusted in positive correlation with the second arrival time; the shorter the second arrival time is, the lower the frequency of the pulse power is; and the longer the second arrival time is, the higher the frequency of the pulse power is.

[0015] By adopting the above technical solution, the second arrival time can reflect the actual working condition of the first driver, and the frequency of the pulse power can be adjusted according to the actual working condition, so that the control intervention of the second driver can be faster and more in line with the actual working condition.

[0016] Optionally, the method further comprises the following steps: Calculating a comprehensive arrival time based on the first arrival time and the second arrival time; The magnitude of the pulse power is adjusted according to the positive correlation of the integrated arrival time; the longer the integrated arrival time is, the greater the pulse power is; the shorter the integrated arrival time is, the smaller the pulse power is.

[0017] By adopting the above technical solution, the pulse power is adjusted from the perspective of combining the actual electrical conditions and actual working conditions of the first driver, which further helps to make the control intervention of the second driver faster and more in line with the actual working conditions.

[0018] Optionally, the method further comprises the following steps: Executing a preset control action based on a first standard driver that meets factory qualified parameters, and calculating a first standard arrival time when the electrical data of the first standard driver meets the preset first electrical template data; adjusting the first time window in anticorrelation according to a first ratio of the first arrival time to the first standard arrival time; the larger the first ratio, the shorter the first time window; the smaller the first ratio, the longer the first time window; Calculating a second standard arrival time when the posture data of the first standard driver meets a preset second posture template; The second time window is adjusted inversely according to a second ratio of the second arrival time to the second standard arrival time; the larger the second ratio, the shorter the second time window; the smaller the second ratio, the longer the second time window.

[0019] By adopting the above technical solution, the larger the first ratio is, the more stable the control power of the first driver when executing the action. At this time, the first time window is increased to allow the first driver to have a more stable change amplitude; the larger the second ratio is, the slower the action of the first driver is. Therefore, it is necessary to shorten the second time window to allow the second driver to have a second change speed that is more adapted to the actual situation.

[0020] In a second aspect, the present application provides a multi-drive online joint control system for an industrial robot, which adopts the following technical solutions: A multi-drive online joint control system for an industrial robot comprises a processor, wherein the processor executes the steps of any one of the above-mentioned multi-drive online joint control methods for an industrial robot.

[0021] In a third aspect, the present application provides a storage medium that adopts the following technical solution: A storage medium stores a program, which, when executed by a processor, implements the steps of any one of the above-mentioned multi-drive online joint control methods for an industrial robot.

[0022] In summary, this application includes at least one of the following beneficial technical effects: During normal operation, the first driver independently outputs power to complete the operation, while the second driver is preheating and outputting pulse power, ensuring its readiness to intervene at any time. If the first driver's power is insufficient (as determined by electrical and posture data), the second driver quickly outputs its rated power, achieving "power redundancy" and preventing operation interruption due to failure of a single driver. Dual drivers are installed at control points (such as robot joints) to achieve "redundant force" through power synergy, ensuring smoother joint movement and reducing vibration or precision deviation caused by insufficient drive.

[0023] Calculate the difference in rated power between the first and second drivers, and adjust the first driver's power change rate inversely (the larger the difference, the slower the change), while adjusting the second driver's power change rate in a positively correlated manner (the larger the difference, the faster the change). If the first driver's power is significantly greater than the second driver's power (for example, the main driver uses a high-power motor and the auxiliary driver uses a low-power motor), the main driver's power changes slowly to avoid sudden unloading and resulting in sudden changes in the object's force. The auxiliary driver quickly intervenes to compensate for the power gap and ensure a stable force. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a step diagram of a multi-drive online joint control method for an industrial robot.

[0025] Figure 2 It is a schematic diagram of the multi-drive structure of an industrial robot.

[0026] Figure 3 This is a step diagram of adjusting the first change speed and the second change speed respectively according to the rated power difference between the first driver and the second driver.

[0027] Figure 4 This is a step diagram of adjusting the first change speed and the second change speed respectively according to the real-time power difference between the first driver and the second driver.

[0028] Reference numerals: 1. first driver; 2. second driver; 3. control point. DETAILED DESCRIPTION

[0029] Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings.

[0030] Throughout this specification, reference to the terms "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0031] The present application discloses a multi-drive online joint control method for an industrial robot, referring to Figure 1 , including the following steps: Based on the first driver 1 and the second driver 2 located at the same control point 3, the first controller and the second controller are located at both ends of the drive shaft on the driven control point 3, used to drive the drive shaft to rotate; the first driver 1 and the second driver 2 are initialized; in the initial state, the first driver 1 is controlled to output the first drive power to the control point 3, activated and output 80% of the rated power as the initial first drive power to ensure basic operating capabilities; the second driver 2 is activated and put into a preheating state, in which the second driver 2 outputs pulse power to the control point 3. After activation, the second driver 2 enters the preheating state and outputs low-frequency pulse power, such as a 2Hz frequency and 20% rated power amplitude. This pulse power design ensures that the second driver 2 can respond quickly at any time while avoiding energy consumption and wear caused by continuous full-load preheating.

[0032] Based on the preset control action, electrical data from the first driver 1 is collected in real time. This data includes parameters such as current, voltage, and power. When the electrical data matches the preset first electrical template data, the robot's posture data is collected. The first electrical template data represents the electrical data in the normal operating mode. The posture data includes joint angles, displacements, and other parameters. A first state value is calculated based on the posture data and the preset first posture template data. The first state value represents the completion percentage of the motion range, i.e., the percentage of similarity between the posture data and the first posture template data (the ideal motion trajectory).

[0033] When the posture data conforms to the preset second posture template, the latest electrical data is collected; wherein the second posture template is a posture mode for normal operation; a second state value is calculated based on the latest electrical data and the preset second electrical template data, that is, the latest electrical data is collected and compared with the second electrical template to obtain the second state value. The second state value is the degree of matching between the latest electrical data and the preset second electrical template data, reflecting the degree of performance degradation of the first driver 1 under the current load.

[0034] According to the first state value and the second state value, a comprehensive intervention value is calculated by weighted average; the comprehensive intervention value = first weight × first state value + second weight × second state value, wherein the first weight and the second weight are set to 0.5.

[0035] If the comprehensive intervention value is greater than a preset intervention reference value, such as 0.7, the second driver 2 is controlled to output the second driving power to the control point 3 .

[0036] Calculate the intervention difference between the comprehensive intervention value and the intervention reference value. Adjust the second drive power based on the positive correlation between the intervention difference. Second drive power = base power (30% rated power) + intervention difference × 70% rated power.

[0037] A first driver 1 and a second driver 2 are deployed at control points 3, such as the robot's joints. Under normal circumstances, the first driver 1 independently outputs power to complete the operation process. During operation, the system monitors the working status of the first driver 1 in real time. When it detects that its driving power cannot meet the construction requirements, the second driver 2, which is in a preheated state, immediately outputs power to the control point 3. The two work together to form a redundant driving force at the joint. This power redundancy design not only effectively copes with heavy-load operation scenarios, but also maintains stable system operation through dual-drive collaborative output when the equipment encounters sudden overloads or the performance of the drive components degrades, ensuring that the robot can still accurately complete operations under complex working conditions.

[0038] On the basis of dual-drive cooperative control, a dynamic speed adjustment mechanism based on rated power difference is introduced. The method further includes the following steps: Controlling the power change of the first driver 1 at a preset first change speed V1; Controlling the power change of the second driver 2 at a preset second change speed V2; Obtain a first rated power P1 of the first driver 1 and a second rated power P2 of the second driver 2; A rated power difference ΔP between the first rated power P1 and the second rated power P2 is calculated, where the rated power difference ΔP=|P1−P2|.

[0039] The first change speed is adjusted inversely based on the rated power difference ΔP. A larger rated power difference ΔP decreases the first change speed; a smaller rated power difference ΔP increases the first change speed. The adjusted first change speed V1' = V1 × (K1 / (ΔP+K1)), where K1 is the adjustment coefficient and has the same units as power.

[0040] When the system is initialized, set the basic change speed for the first drive (main drive) and the second drive (auxiliary drive) respectively: First change speed V1: default value is 5% rated power / second (suitable for smooth regulation of the main drive); Second change speed V2: default value is 10% rated power / second (suitable for fast response of auxiliary drive); Note: The basic speed of the main drive is low to ensure system stability; the basic speed of the auxiliary drive is high to facilitate rapid intervention.

[0041] When ΔP is large (e.g., P1=15kW, P2=5kW, ΔP=10kW), V1′≈V1×0.33, and the change of the main drive power slows down significantly; When ΔP is small (such as P1=10kW, P2=8kW, ΔP=2kW), V1′≈V1×0.83, and the main drive power change is close to the basic speed.

[0042] The second speed of change is adjusted in direct correlation with the rated power difference ΔP. A larger rated power difference ΔP increases the second speed of change; a smaller rated power difference ΔP decreases the second speed of change. The adjusted second speed of change V2' = V2 × ((K2 + ΔP) / K2), where K2 is the adjustment coefficient and is expressed in the same units as power.

[0043] When ΔP is large (e.g., P1=15kW, P2=5kW, ΔP=10kW), V2′≈V2×1.625, and the auxiliary drive power changes significantly faster; When ΔP is small (such as P1=10kW, P2=8kW, ΔP=2kW), V2′≈V2×1.125, and the auxiliary drive power changes slightly faster.

[0044] By regulating the change curve of the first drive power according to the difference in rated power, when the first drive power is greater than the second drive power, the first drive power changes slowly; when the second drive 2 intervenes, the force applied to the object can be changed more smoothly; and the second drive power changes rapidly, so that when the second drive 2 intervenes, the second force applied to the object can be adjusted more quickly, which is also beneficial to the stability of the force change.

[0045] The present application further proposes a dynamic speed regulation mechanism based on real-time power difference, which achieves real-time adaptation of the driving power to the actual working conditions through coordinated control of adaptive filtering and power changes. The method includes the following steps: Controlling the power change of the first driver 1 at a preset first change speed V1; Controlling the power change of the first driver 1 at a preset second change speed V2; Obtaining a first real-time power of the first driver 1 and a second real-time power of the second driver 2; The first real-time power is filtered based on a preset first time window, and the second real-time power is filtered based on a preset second time window.

[0046] The system samples the real-time power of the first and second drivers at a high frequency of 100Hz and filters it through two sets of time windows: The preset 200ms first time window: performs sliding average filtering on the main drive power to filter out high-frequency noise such as current mutations to ensure data stability; The preset 100ms second time window applies weighted filtering to the auxiliary drive power, giving more weight to recent data so that even small load changes can be accurately captured.

[0047] After the two sets of data are filtered, the real-time power difference between the first real-time power and the second real-time power is calculated in real time.

[0048] The first change rate is adjusted inversely based on the real-time power difference ΔP. The larger the real-time power difference, the smaller the first change rate; the smaller the real-time power difference, the larger the first change rate. The adjusted first change rate V1′′ = first change rate × (K3 / (real-time power difference + K3)). The units of the adjustment coefficient K3 are the same as those of the real-time power difference.

[0049] When ΔP is large in real time (e.g., 5kW), V1′′≈first change speed×0.26, and the main drive power changes very slowly; When ΔP is small in real time (such as 0.5 kW), V1′′≈first change speed×0.78, and the main drive power change is close to the original speed.

[0050] The second change rate is adjusted in a positive correlation with the real-time power difference. The larger the real-time power difference, the greater the second change rate; the smaller the real-time power difference, the smaller the second change rate. The adjusted second change rate V2′′ = second change rate × ((real-time power difference + K4) / K4). The units of the adjustment coefficient K4 are the same as those of the real-time power difference.

[0051] When ΔP is large in real time (e.g., 5kW), V2′′≈the second change speed×2.11, and the auxiliary drive power changes very quickly; When ΔP is small in real time (eg, 0.5 kW), V2′′≈the second change speed×1.11, and the auxiliary drive power changes slightly faster.

[0052] This real-time power adaptive regulation mechanism dynamically adjusts the power change rate of the dual drivers, automatically optimizing the control strategy based on the current load characteristics. When the difference between the first and second real-time powers is large, the power of the first driver (1) changes slowly to maintain system stability, while the second driver (2) responds quickly to fill the power gap. When the power difference is small, the dual drivers' change speeds approach the preset value to ensure control accuracy. This achieves rapid response and smooth transition to load changes, significantly improving the reliability and energy efficiency of industrial robots in scenarios such as construction and heavy handling.

[0053] The method further comprises the steps of: Calculate the first arrival time when the electrical data meets the preset first electrical template data; the first arrival time refers to the time when the driver power reaches the first electrical template.

[0054] The intervention reference value is adjusted inversely according to the first arrival time; the shorter the first arrival time, the larger the intervention reference value; the longer the first arrival time, the smaller the intervention reference value.

[0055] The adjustment strategy of intervention reference value is as follows: When the first arrival time is ≤0.1 seconds, the intervention reference value is 0.9, stability is prioritized, and the auxiliary drive intervention is delayed; When the first arrival time is between 0.1 and 0.3 seconds, the intervention reference value is 0.8 to balance response and stability; When the first arrival time is between 0.3 and 0.5 seconds, the intervention reference value is 0.7, the default strategy; When the first arrival time is between 0.5 and 1.0 seconds, the intervention reference value is 0.6 to enhance redundancy and start the auxiliary drive in advance; When the first arrival time is greater than 1.0 second, the intervention reference value is 0.5, which means safety is prioritized and the protection system is quickly intervened.

[0056] The intervention reference value adjustment strategy makes the intervention timing of the second driver 2 no longer dependent on a fixed threshold, but a dynamic decision based on real-time response characteristics, so that the power distribution is more in line with the actual working conditions.

[0057] The method further comprises the steps of: The second arrival time when the posture data conforms to the preset second posture template is calculated, and the second arrival time is used to quantify the load response capability of the first driver 1 .

[0058] The frequency of the pulse power is adjusted in positive correlation with the second arrival time; the shorter the second arrival time, the lower the frequency of the pulse power; the longer the second arrival time, the higher the frequency of the pulse power.

[0059] The frequency of the adjusted pulse power = the frequency of the initial pulse power + K5 × (second arrival time - reference time); where K5 is the adjustment coefficient, 0.5 Hz / second; the reference time is 0.5 seconds; and the frequency of the initial pulse power is 2 Hz.

[0060] Incorporating attitude response characteristics into control decisions dynamically aligns the preheating state of the second driver 2 with the actual load demand. A long second arrival time (e.g., >1 second) indicates high system inertia or a sudden load change, requiring increased preheating energy reserves. A short arrival time (e.g., <0.3 seconds) indicates light system load, reducing preheating energy consumption.

[0061] The method further comprises the steps of: The comprehensive arrival time is calculated based on the first arrival time and the second arrival time using a weighted average method, with each weight being 0.5.

[0062] The pulse power is adjusted based on the positive correlation between the integrated arrival time and the pulse power. The longer the integrated arrival time, the greater the pulse power; the shorter the integrated arrival time, the smaller the pulse power. Adjusted pulse power = initial pulse power + K6 × (integrated arrival time - t1). The initial pulse power is 20% of the rated power (initial preheating power); K6 is 0.2 × rated power / second (adjustment coefficient, determined through load testing); t1 = 0.3 seconds (standard reference time, corresponding to medium load conditions). Power boundary limit: 10% rated power ≤ P pulse ≤ 40% rated power: When the combined arrival time is less than 0.2 seconds, P pulse = 10% rated power (light load energy-saving mode); When the comprehensive arrival time is greater than 0.8 seconds, P pulse = 40% rated power (heavy load warning mode).

[0063] If the combined arrival time is long (e.g., 0.6 seconds), it indicates that the system is heavily loaded or responds slowly. In this case, the pulse power needs to be increased (e.g., to 32% of the rated power) to reserve energy in advance to cope with sudden overloads. If the combined arrival time is short (e.g., 0.2 seconds), it indicates that the system is lightly loaded and responds quickly. In this case, reduce the pulse power (e.g., to 14% of the rated power) to reduce preheating energy consumption.

[0064] A longer overall arrival time indicates a heavy system load or slow response, leading to a higher pulse power and more energy reserve. A shorter overall arrival time results in a lower pulse power, minimizing energy waste. This multi-dimensional adjustment approach allows the second driver 2 to more quickly and accurately adapt to the actual operating scenario when it intervenes.

[0065] The method further comprises the steps of: A preset control action is executed based on a first standard driver that meets factory qualified parameters, and a first standard arrival time is calculated when electrical data of the first standard driver meets a preset first electrical template data. A second standard arrival time is calculated when posture data of the first standard driver meets a preset second posture template.

[0066] During the factory calibration phase, the system records the electrical response characteristics and posture response characteristics of the first standard driver that meets the qualified parameters when performing typical actions, forming the first standard arrival time (typical value 0.15 seconds) and the second standard arrival time (typical value 0.25 seconds) respectively.

[0067] The first ratio of the first arrival time to the first standard arrival time is calculated, and the first time window is adjusted based on the anti-correlation of the first ratio. A larger first ratio indicates a shorter first time window; a smaller first ratio indicates a longer first time window. A first ratio greater than 1 indicates a slower response than the standard, possibly due to an increased load or decreased electrical performance. A first ratio less than 1 indicates a faster response than the standard, indicating a lighter load or optimal system performance. The adjusted first time window is calculated as: initial first time window / first ratio. As the first ratio increases (system response slows), the first time window shortens, increasing sensitivity to sudden signal fluctuations. As the first ratio decreases (system response stabilizes), the first time window lengthens to filter out high-frequency noise.

[0068] The second ratio of the second arrival time to the second standard arrival time is calculated, and the second time window is adjusted inversely based on the second ratio. A larger second ratio shortens the second time window, while a smaller second ratio lengthens it. A second ratio greater than 1 indicates sluggish robot movement, possibly due to increased load inertia or joint friction. A second ratio less than 1 indicates agile robot movement, indicating a light load or healthy moving parts. The adjusted second time window equals the initial second time window / the second ratio. When the second ratio increases (sluggish movement), the second time window shortens, allowing the auxiliary drive to intervene more quickly. When the second ratio decreases (agile movement), the second time window lengthens to reduce unnecessary power fluctuations.

[0069] By building a differentiated response mechanism, precise matching of dual-drive control parameters is achieved: when the first ratio is larger, it indicates that the drive power output is more stable. At this time, the first time window is extended to make the main drive changes smoother, just like providing a wider speed regulation range for a stably running engine. When the second ratio is larger, it means that the robot arm moves slowly. At this time, the second time window is shortened, allowing the auxiliary drive to more sensitively capture dynamic changes.

[0070] An embodiment of the present application further discloses a multi-drive online joint control system for an industrial robot, comprising a processor, wherein the processor executes the steps of any one of the multi-drive online joint control methods for an industrial robot described above.

[0071] An embodiment of the present application further discloses a storage medium, wherein a program is stored in the storage medium, and when the program is executed by a processor, the steps of any one of the above-mentioned multi-drive online joint control methods for an industrial robot are implemented.

[0072] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A multi-drive online joint control method for an industrial robot, characterized in that: The steps include: Based on a first driver (1) and a second driver (2) located at the same control point (3), the first driver (1) and the second driver (2) are initialized, and in an initial state, the first driver (1) is controlled to output a first driving power to the control point (3), and the second driver (2) is activated and put into a preheating state, wherein the preheating state is that the second driver (2) outputs a pulse power to the control point (3); Based on a preset control action, electrical data of the first driver (1) is collected in real time, and when the electrical data conforms to preset first electrical template data, posture data of the robot is collected; Calculating a first state value based on the posture data and preset first posture template data; When the posture data conforms to a preset second posture template, collecting the latest electrical data, and calculating a second state value based on the latest electrical data and the preset second electrical template data; calculating a comprehensive intervention value according to the first state value and the second state value; If the comprehensive intervention value is greater than a preset intervention reference value, controlling the second driver (2) to output a second driving power to the control point (3); An intervention difference between the comprehensive intervention value and the intervention reference value is calculated; and the second driving power is adjusted in a positive correlation according to the intervention difference.

2. The multi-drive online joint control method for an industrial robot according to claim 1, characterized in that: The method further comprises the steps of: Controlling the power change of the first driver (1) at a preset first change speed; Controlling the power change of the second driver (2) at a preset second change speed; Obtaining a first rated power of the first driver (1) and a second rated power of the second driver (2); calculating a rated power difference between the first rated power and the second rated power; The first change speed is adjusted inversely according to the rated power difference, wherein the larger the rated power difference is, the smaller the first change speed is; and the smaller the rated power difference is, the larger the first change speed is; The second change speed is adjusted in a positive correlation with the rated power difference; the greater the rated power difference, the greater the second change speed; The smaller the rated power difference is, the smaller the second change speed is.

3. The multi-drive online joint control method for an industrial robot according to claim 2, characterized in that: The method further comprises the steps of: Controlling the power change of the first driver (1) at a preset first change speed; Controlling the power change of the second driver (2) at a preset second change speed; Acquiring a first real-time power of the first driver (1) and a second real-time power of the second driver (2); Filtering the first real-time power based on a preset first time window, and filtering the second real-time power based on a preset second time window; Calculating a real-time power difference between the first real-time power and the second real-time power; adjusting the first change speed inversely according to the real-time power difference; the larger the real-time power difference is, the smaller the first change speed is; and the smaller the real-time power difference is, the larger the first change speed is; The second change speed is adjusted in a positive correlation with the real-time power difference; the larger the real-time power difference is, the larger the second change speed is; the smaller the real-time power difference is, the smaller the second change speed is.

4. The multi-drive online joint control method for an industrial robot according to claim 3, characterized in that: The method further comprises the steps of: Calculating a first arrival time when the electrical data meets a preset first electrical template data; The intervention reference value is adjusted according to the anti-correlation of the first arrival time; the shorter the first arrival time is, the larger the intervention reference value is; the longer the first arrival time is, the smaller the intervention reference value is.

5. The multi-drive online joint control method for an industrial robot according to claim 4, characterized in that: The method further comprises the steps of: Calculating a second arrival time when the posture data meets a preset second posture template; The frequency of the pulse power is adjusted in positive correlation with the second arrival time; the shorter the second arrival time is, the lower the frequency of the pulse power is; and the longer the second arrival time is, the higher the frequency of the pulse power is.

6. The multi-drive online joint control method for an industrial robot according to claim 5, characterized in that: The method further comprises the steps of: Calculating a comprehensive arrival time based on the first arrival time and the second arrival time; The magnitude of the pulse power is adjusted according to the positive correlation of the integrated arrival time; the longer the integrated arrival time is, the greater the pulse power is; the shorter the integrated arrival time is, the smaller the pulse power is.

7. The multi-drive online joint control method for an industrial robot according to claim 6, characterized in that: The method further comprises the steps of: Executing a preset control action based on a first standard driver that meets factory qualified parameters, and calculating a first standard arrival time when the electrical data of the first standard driver meets the preset first electrical template data; adjusting the first time window in anticorrelation according to a first ratio of the first arrival time to the first standard arrival time; the larger the first ratio, the shorter the first time window; the smaller the first ratio, the longer the first time window; Calculating a second standard arrival time when the posture data of the first standard driver meets a preset second posture template; The second time window is adjusted inversely according to a second ratio of the second arrival time to the second standard arrival time; the larger the second ratio, the shorter the second time window; the smaller the second ratio, the longer the second time window.

8. A multi-drive online joint control system for an industrial robot, characterized in that: The method comprises a processor, wherein the processor executes the steps of the multi-drive online joint control method of the industrial robot according to any one of claims 1 to 7.

9. A storage medium, characterized in that: The storage medium stores a program, and when the program is executed by the processor, the steps of the multi-drive online joint control method for an industrial robot according to any one of claims 1 to 7 are implemented.

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