Motion multiplying power adjusting method and device, robot and storage medium

Abstract

The invention discloses a motion multiplying power adjusting method and device, a robot and a storage medium. The method comprises the steps that the real-time joint torque of the robot in the motion process is calculated; calculating a motion planning multiplying power based on the real-time joint torque and a speed reducer torque limit value; and the original motion multiplying power of the robot is adjusted through the motion planning multiplying power, so that the real-time joint torque does not exceed the speed reducer torque limiting value. The real-time joint torque can be prevented from exceeding the torque limit value of the speed reducer, and the service life of the speed reducer is prolonged.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a motion magnification adjustment method, device, robot and storage medium. Background Art

[0002] Due to their convenience, robots are widely used in various fields, such as automated production. They can automatically perform pre-set tasks and perform motion planning based on pre-set motion parameters. During robot motion, the torque output by the robot's joints exhibits a nonlinear relationship with speed and acceleration. This can cause the joint torque to exceed the torque range of the reducer, shortening the reducer's lifespan.

[0003] To address the above issues, the currently commonly used method is to predict the joint torque, that is, to predict the joint torque of the robot's next movement, and then constrain the next joint torque to ensure that the joint torque does not exceed the tolerance of the reducer. However, this prediction is highly dependent on structural parameters and model formulas. When parameter deviations occur or the model is inaccurate, the predicted torque will deviate significantly from the actual torque, resulting in the actual torque still having the possibility of exceeding the tolerance of the reducer. Summary of the Invention

[0004] The embodiments of the present invention provide a motion magnification adjustment method, device, robot and storage medium, aiming to solve the problem that the current joint torque limitation method has poor accuracy and cannot effectively protect the reducer.

[0005] In a first aspect, an embodiment of the present invention provides a motion magnification adjustment method, applied to a robot, the method comprising:

[0006] Calculating the real-time joint torque of the robot during movement;

[0007] Calculating a motion planning magnification based on the real-time joint torque and the reducer torque limit value;

[0008] The original motion magnification of the robot is adjusted by the motion planning magnification so that the real-time joint torque does not exceed the reducer torque limit value.

[0009] In a second aspect, an embodiment of the present invention further provides a motion magnification adjustment device, applied to a robot, comprising:

[0010] A first calculation unit is used to calculate the real-time joint torque of the robot during movement;

[0011] A second calculation unit is used to calculate the motion planning magnification based on the real-time joint torque and the reducer torque limit value;

[0012] The first adjustment unit is configured to adjust the original motion magnification of the robot by using the motion planning magnification so that the real-time joint torque does not exceed the reducer torque limit value.

[0013] In a third aspect, an embodiment of the present invention further provides a robot comprising a memory and a processor connected to the memory, wherein a computer program is stored in the memory, and the processor implements the above method when executing the computer program.

[0014] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program can implement the above method when executed by a processor.

[0015] The embodiment of the present invention provides a motion magnification adjustment method, device, robot and storage medium. The method includes: calculating the real-time joint torque of the robot during the movement process; calculating the motion planning magnification based on the real-time joint torque and the reducer torque limit value; adjusting the original motion magnification of the robot by the motion planning magnification so that the real-time joint torque does not exceed the reducer torque limit value. The embodiment of the present invention can obtain the real-time joint torque, and calculate the motion planning magnification based on the real-time joint torque and the reducer torque limit value, and then adjust the original motion magnification by the motion planning magnification to ensure that the real-time joint torque does not exceed the reducer torque limit value, thereby avoiding limiting the real-time torque by the predicted torque, and effectively protecting the reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 1 is a flow chart of a motion magnification adjustment method provided by an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of the first sub-process of the motion magnification adjustment method provided by an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of a second sub-process of the motion magnification adjustment method provided by an embodiment of the present invention;

[0020] Figure 4 3 is a schematic diagram of a third sub-process of the motion magnification adjustment method provided in an embodiment of the present invention;

[0021] Figure 5 4 is a schematic diagram of a fourth sub-process of the motion magnification adjustment method provided in an embodiment of the present invention;

[0022] Figure 6 This is a schematic diagram of the fifth sub-process of the motion magnification adjustment method provided by an embodiment of the present invention;

[0023] Figure 7 It is a feedback diagram of the motion planning magnification and real-time joint torque of the motion magnification adjustment method provided by an embodiment of the present invention;

[0024] Figure 8 is a schematic block diagram of a motion magnification adjustment device provided by one embodiment of the present invention;

[0025] Figure 9 It is a schematic block diagram of a robot provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0027] It will be understood that when used in this specification and the appended claims, the terms “include” and “comprising” indicate the presence of described features, integers, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, operations, elements, components and / or groups thereof.

[0028] It should also be understood that the terminology used in this specification is for the purpose of describing specific embodiments only and is not intended to limit the present invention. As used in the specification and appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise. It should further be understood that the term "and / or" as used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, including and including these combinations.

[0029] See also Figure 1 , Figure 1 This is a flow chart of the motion magnification adjustment method provided by an embodiment of the present invention. The motion magnification adjustment method of the embodiment of the present invention can be applied to a robot to adjust the motion magnification of the robot to prevent the real-time joint torque of the robot from being greater than the reducer torque limit value, thereby improving the life of the reducer torque limit value. Figure 1As shown, the method includes steps S100 to S120.

[0030] S100, calculating the real-time joint torque of the robot during movement.

[0031] In an embodiment of the present invention, the motion multiplier adjustment method provided by the present invention can be applied to robots in various fields, such as industrial production field, logistics warehousing field, special operation field, etc. The robot in the industrial production field can be an automobile manufacturing robot and a 3C electronic manufacturing robot. For automobile manufacturing robots, the change in welding gun posture during welding causes a sudden change in joint inertia. The multiplier is adjusted in real time through servo feedback to avoid torque overrun, or when carrying heavy parts (such as engine cylinders), the instantaneous torque impact on the reducer is prevented from occurring during startup. The robot in the logistics warehousing field can be a heavy-duty transport robot and a sorting robot. For heavy-duty transport robots, when grabbing goods of different weights, the torque calculation can be corrected in real time to avoid overloading the reducer due to sudden changes in load. For sorting robots, sudden collisions during high-speed sorting cause torque fluctuations, and the motion multiplier can be lowered to prevent mechanical damage.

[0032] When the robot is in motion, relevant parameters can be obtained in real time and used to calculate the robot's real-time joint torque. For example, motor output torque, reducer reduction ratio, and reducer reduction efficiency can be obtained. The calculated real-time joint torque is calculated based on the robot's real-time state and is used to indicate the joint torque of the robot in its current motion posture.

[0033] In certain embodiments, for example, in embodiments of the present invention, Figure 2 As shown, the step 100 includes steps S101-S102.

[0034] S101, obtaining the motor output torque, reducer reduction ratio, and reducer efficiency of the robot during movement;

[0035] S102, substituting the motor output torque, the reducer reduction ratio, and the reducer efficiency into a first preset formula to calculate the real-time joint torque, wherein the first preset formula is:

[0036] M=M e *N*η

[0037] M is the real-time joint torque, M e is the motor output torque, N is the speed reducer reduction ratio, and η is the speed reducer efficiency.

[0038] In an embodiment of the present invention, the motor output torque can be obtained in real time through the servo driver, and the sampling period is consistent with the robot control period (such as 1ms-2ms). The speed reducer reduction ratio is determined by the mechanical structure of the speed reducer and is a fixed value. For example, if the speed reducer reduction ratio is 100, the motor rotates 100 times and the joint rotates 1 time, and the joint torque is amplified proportionally. The speed reducer efficiency is affected by the speed reducer temperature and load rate. For example, a mapping curve between temperature and speed reducer efficiency can be established by pre-embedded temperature sensors, for example:

[0039]

[0040] Assume the motor output torque M e =1.2, reducer ratio N = 100, temperature T = 50°C, then reducer efficiency = 0.8, and the real-time joint torque M = 96 N·m can be calculated.

[0041] S110 , calculating a motion planning magnification based on the real-time joint torque and the reducer torque limit value.

[0042] In this embodiment of the present invention, the reducer torque limit is the rated torque limit of the reducer, which is provided by the manufacturer. That is, different types of reducers have different reducer torque limit values. After calculating the real-time joint torque, the reducer torque limit value can be obtained, and then the motion planning factor can be calculated based on the real-time joint torque and the reducer torque limit value.

[0043] The motion planning magnification is used to limit the robot's original motion magnification. The motion planning magnification is an adjustment factor for the original motion planning magnification. It is calculated based on the real-time joint torque and reducer torque limit and is used to adjust the original motion magnification. The original motion magnification is a user-defined baseline value for robot motion speed adjustment, used to preliminarily determine the robot's operating speed, acceleration, and other motion parameters. The original motion magnification can be adjusted using the motion planning magnification, thereby adjusting the robot's joint torque.

[0044] In certain embodiments, for example, in embodiments of the present invention, Figure 3 As shown, step 110 includes steps S111-S112.

[0045] S111, acquiring the real-time joint torque and the reducer torque limit value;

[0046] S112, substituting the real-time joint torque and the reducer torque limit value into a preset motion planning magnification calculation formula to calculate the motion planning magnification, wherein the motion planning magnification calculation formula is:

[0047] e(t)=M lim -M t

[0048]

[0049] Among them, M lim is the reducer torque limit value, M t is the real-time joint torque at time t, e t is the difference between the reducer torque limit value and the real-time joint torque at time t, K(t) is the motion planning magnification, K p is the proportionality coefficient, K i is the integration coefficient.

[0050] In an embodiment of the present invention, the motion planning magnification is the adjustment period of the original motion magnification, which can be calculated from the real-time joint torque and the reducer torque limit value. When calculating, it is necessary to first obtain the real-time joint torque and the reducer torque limit value, and then substitute the two into the preset motion planning magnification calculation formula to calculate the motion planning magnification. The e(t) in the preset motion planning magnification calculation formula is an error formula. When e(t) is greater than 0, it indicates that the current joint torque of the robot is in the safe value range and the motion planning magnification can be increased. When e(t) is less than 0, it indicates that the current joint torque of the robot exceeds the safe value range and the motion planning magnification needs to be lowered. When e(t) is equal to 0, it indicates that the current joint torque of the robot is at the critical value. K(t) is the real-time motion planning magnification, K p is the proportionality coefficient (typical value 0.5~2.0, K i is the integral coefficient (typical value 0.1 to 0.5, used to eliminate static error).

[0051] Assume M = 96 N·m, M lim =100N·m,K p =0.1, K i = 0.5, and the control period is 10ms, then e(t) = 4N·m, the proportional term is 0.4, the integral term is 0.008, and the motion planning magnification is 0.4008. It can be understood that the motion planning magnification is generally between 0 and 1, with an upper limit of 1 and a user-configurable lower limit. If the calculated motion planning magnification exceeds 1, the value is 1. If the calculated motion planning magnification is less than the lower limit, the value is the lower limit.

[0052] In certain embodiments, for example, in embodiments of the present invention, Figure 4 As shown, the method further includes steps S113-S114.

[0053] S113, acquiring the real-time joint torque and a preset adjustment value, and comparing the real-time joint torque with the preset adjustment value to obtain a comparison result;

[0054] S114: Adjust the parameters in the preset motion planning magnification calculation formula based on the comparison result.

[0055] In an embodiment of the present invention, the preset adjustment value is an empirical value, which is usually close to the reducer torque limit value but less than the reducer torque limit value. When the real-time joint torque is close to the reducer torque limit value, the parameters in the motion planning magnification calculation formula can be adjusted in advance to increase the sensitivity of the motion planning magnification to the joint torque, so as to facilitate timely limitation of the real-time joint torque. For example, when the real-time joint torque is greater than the preset adjustment value, the parameters in the preset motion planning magnification calculation formula can be adjusted, and when the real-time joint torque is less than or equal to the preset motion planning magnification calculation formula, it can remain unchanged.

[0056] In some embodiments, for example, in an embodiment of the present invention, the preset adjustment value includes a first adjustment value and a second adjustment value, such as Figure 5 As shown, step 114 includes steps S1141-S1143.

[0057] S1141, obtaining the comparison result;

[0058] S1142, if the comparison result is that the real-time joint torque is less than or equal to the first limit value, maintaining the parameters in the preset motion planning magnification calculation formula unchanged;

[0059] S1143: If the comparison result is that the real-time joint torque is greater than the first limit value and less than or equal to the second limit value, increase the proportional coefficient and the integral coefficient in the preset motion planning magnification calculation formula.

[0060] In an embodiment of the present invention, the preset adjustment value may include a first limit value and a second limit value, and the first limit value is less than the second limit value, and the second limit value is a reducer torque limit value. When the real-time joint torque is less than or equal to the first limit value, the parameters in the preset motion planning magnification calculation formula are maintained unchanged. When the real-time joint torque is greater than the first limit value and less than or equal to the second limit value, the proportional coefficient and the integral coefficient in the preset motion planning magnification calculation formula can be increased to increase the sensitivity of the motion planning magnification to the joint torque.

[0061] For example, the first limit value is 0.7M lim , the second limit value is M lim , then when the real-time joint torque is less than or equal to 0.7M lim When the real-time joint torque is 0.7M, the parameters in the preset motion planning multiplier calculation formula can be maintained unchanged. lim With M lim When the proportional coefficient is between 0 and 1, the proportional coefficient can be increased by 1.5 times and the integral coefficient can be increased by 1.2 times. The formula after the increase is:

[0062] e(t)=M lim -M t

[0063]

[0064] From the adjusted formula, it can be seen that after increasing the proportional coefficient and the integral coefficient, the motion planning magnification is more sensitive to the change of e(t), that is, it is more sensitive to the change of real-time joint torque, and the motion planning magnification can be adjusted more quickly.

[0065] S120: Adjust the original motion magnification of the robot by using the motion planning magnification so that the real-time joint torque does not exceed the reducer torque limit value.

[0066] In an embodiment of the present invention, the motion planning magnification is an adjustment coefficient of the original motion magnification. When the real-time joint torque is large, the motion planning magnification is small, and the original motion magnification can be reduced accordingly to reduce the real-time joint torque. When the real-time joint torque is large, the motion planning magnification is large, and the original motion magnification can be amplified to increase the real-time joint torque, thereby meeting the robot's motion requirements while avoiding the real-time joint torque exceeding the reducer torque limit value.

[0067] In certain embodiments, for example, in embodiments of the present invention, Figure 6 As shown, step 120 includes steps S121-S122.

[0068] S121, calculating the product of the motion planning magnification and the original motion magnification to obtain a target motion magnification;

[0069] S122: Using the target motion magnification as the output magnification of the robot.

[0070] In this embodiment of the present invention, the product of the motion planning magnification and the original motion magnification can be used as the target motion magnification, and the target motion magnification can be used as the robot's output magnification to adjust the robot's motion parameters. For example, assuming the original motion magnification is 100%, V original = 500 mm / s, a original = 200 mm / s, and if the motion planning magnification is 0.9, then the target motion magnification is 0.9, and accordingly, V actual = 450 mm / s, a actual = 162 mm / s.

[0071] like Figure 7 As shown, Figure 7 The feedback diagram of motion planning ratio and real-time joint torque can be used to calculate the real-time joint torque based on the parameters fed back by the servo actuator, and then the motion planning ratio is calculated by the ratio regulator, the target ratio is calculated by the motion planner, and finally the parameters of the shutdown motor are adjusted.

[0072] The motion ratio adjustment method disclosed in the present invention can obtain the real-time joint torque, and calculate the motion planning ratio based on the real-time joint torque and the reducer torque limit value, and then adjust the original motion ratio by the motion planning ratio to ensure that the real-time joint torque does not exceed the reducer torque limit value, thereby avoiding limiting the real-time torque by predicting the torque, and effectively protecting the reducer.

[0073] Figure 8 FIG is a schematic block diagram of a motion magnification adjustment device 200 provided by an embodiment of the present invention. Figure 8 As shown, corresponding to the above motion magnification adjustment method, the present invention also provides a motion magnification adjustment device 200. The motion magnification adjustment device 200 includes a unit for executing the above motion magnification adjustment method. Figure 8 The motion magnification adjustment device 200 includes a first calculation unit 201 , a second calculation unit 202 and a first adjustment unit 203 .

[0074] The first calculation unit 201 is used to calculate the real-time joint torque of the robot during movement;

[0075] A second calculation unit 202 is configured to calculate a motion planning magnification based on the real-time joint torque and the reducer torque limit value;

[0076] The first adjustment unit 203 is configured to adjust the original motion magnification of the robot by using the motion planning magnification so that the real-time joint torque does not exceed the reducer torque limit value.

[0077] In some embodiments, such as this embodiment, the first calculation unit 201 further includes a first acquisition unit and a third calculation unit.

[0078] The first acquisition unit is used to obtain the motor output torque, reducer reduction ratio and reducer efficiency of the robot during movement;

[0079] The third calculation unit is used to substitute the motor output torque, the speed reducer reduction ratio and the speed reducer efficiency into a first preset formula to calculate the real-time joint torque.

[0080] In some embodiments, such as this embodiment, the second calculation unit 202 further includes a second acquisition unit and a fourth calculation unit.

[0081] Wherein, the second acquisition unit is used to acquire the real-time joint torque and the reducer torque limit value;

[0082] The fourth calculation unit is used to substitute the real-time joint torque and the reducer torque limit value into a preset motion planning magnification calculation formula to calculate the motion planning magnification, wherein the calculation formula of the motion planning magnification is:

[0083] e t =M lim -M t

[0084]

[0085] Among them, M lim is the reducer torque limit value, M t is the real-time joint torque at time t, e t is the difference between the reducer torque limit value and the real-time joint torque at time t, K(t) is the motion planning magnification, K p is the proportionality coefficient, K i is the integration coefficient.

[0086] In some embodiments, such as this embodiment, the motion magnification adjustment device 200 further includes a third acquisition unit and a second adjustment unit.

[0087] The third acquiring unit is configured to acquire the real-time joint torque and the preset adjustment value, and compare the real-time joint torque with the preset adjustment value to obtain a comparison result;

[0088] The second adjustment unit is used to adjust the parameters in the preset motion planning magnification calculation formula based on the comparison result.

[0089] In some embodiments, such as this embodiment, the second adjusting unit further includes a fourth acquiring unit, a first maintaining unit, and a third adjusting unit.

[0090] Wherein, the fourth obtaining unit is used to obtain the comparison result;

[0091] a first maintaining unit, configured to maintain parameters in the preset motion planning magnification calculation formula unchanged if the comparison result shows that the real-time joint torque is less than or equal to a first limit value;

[0092] The third adjustment unit is used to increase the proportional coefficient and the integral coefficient in the preset motion planning magnification calculation formula if the comparison result is that the real-time joint torque is greater than the first limit value and less than or equal to the second limit value.

[0093] In some embodiments, such as this embodiment, the first adjustment unit 203 further includes a fifth calculation unit and a first output unit.

[0094] The fifth calculation unit is configured to calculate the product of the motion planning magnification and the original motion magnification to obtain the target motion magnification;

[0095] The first output unit is configured to use the target motion magnification as the output magnification of the robot.

[0096] It should be noted that those skilled in the art can clearly understand that the specific implementation process of the above-mentioned motion magnification adjustment device and each unit can refer to the corresponding description in the aforementioned method embodiment. For the convenience and brevity of description, it will not be repeated here.

[0097] The above-mentioned motion magnification adjustment device can be realized in the form of a computer program. The computer program can be used in Figure 9 Run on the robot shown.

[0098] See also Figure 9 , Figure 9 This is a schematic block diagram of a robot provided in an embodiment of the present application. It can be either a terminal or a server. A terminal can be a communication-capable electronic device such as a smartphone, tablet computer, laptop computer, desktop computer, personal digital assistant, or wearable device. A server can be a standalone server or a server cluster consisting of multiple servers.

[0099] See Figure 9 The robot 300 includes a processor 302 , a memory, and an interface 307 connected via a system bus 301 , wherein the memory may include a non-volatile storage medium 303 and an internal memory 304 .

[0100] The non-volatile storage medium 303 can store an operating system 3031 and a computer program 3032. When the computer program 3032 is executed, the processor 302 can execute a motion magnification adjustment method.

[0101] The processor 302 is used to provide computing and control capabilities to support the operation of the entire robot 300.

[0102] The internal memory 304 provides an environment for the operation of the computer program 3032 in the non-volatile storage medium 303. When the computer program 3032 is executed by the processor 302, the processor 302 can execute a motion magnification adjustment method.

[0103] The interface 305 is used to communicate with other devices. Those skilled in the art will appreciate that Figure 9The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution of the present application, and does not constitute a limitation on the robot 300 to which the solution of the present application is applied. The specific robot 300 may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0104] It should be understood that in the embodiment of the present application, the processor 302 may be a central processing unit (CPU), and the processor 302 may also be other general-purpose processors, digital signal processors (FSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0105] Those skilled in the art will appreciate that all or part of the steps in the method of the above-described embodiment can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. The computer program is executed by at least one processor in the computer system to implement the steps in the method of the above-described embodiment.

[0106] Therefore, the present invention further provides a storage medium. The storage medium may be a computer-readable storage medium. The storage medium stores a computer program. When executed by a processor, the computer program implements any embodiment of the motion magnification adjustment method described above.

[0107] The storage medium may be any computer-readable storage medium that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk, or an optical disk.

[0108] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the composition and steps of each example according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0109] In the several embodiments provided herein, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the various units is merely a logical functional division, and actual implementation may employ other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be omitted or not implemented.

[0110] The steps in the methods of the embodiments of the present invention may be adjusted in order, combined, or deleted as needed. The units in the devices of the embodiments of the present invention may be combined, divided, or deleted as needed. Furthermore, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0111] If this integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored on a storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product, stored on a storage medium, includes instructions for causing a robot to perform all or part of the steps of the method described in various embodiments of the present invention.

[0112] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0113] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, to the extent such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to encompass such changes and modifications.

[0114] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A motion magnification adjustment method, characterized in that: Applied to a robot, the method comprises: Calculating the real-time joint torque of the robot during movement; Calculating a motion planning magnification based on the real-time joint torque and the reducer torque limit value; The original motion magnification of the robot is adjusted by the motion planning magnification so that the real-time joint torque does not exceed the reducer torque limit value.

2. The method according to claim 1, wherein The step of calculating the real-time joint torque of the robot during movement comprises: Obtaining the motor output torque, reducer reduction ratio, and reducer efficiency of the robot during movement; The motor output torque, the speed reducer reduction ratio, and the speed reducer efficiency are substituted into a first preset formula to calculate the real-time joint torque.

3. The method according to claim 2, wherein The first preset formula is: M=M e *N*h Where M is the real-time joint torque, M e is the motor output torque, N is the speed reducer reduction ratio, and η is the speed reducer efficiency.

4. The method according to claim 1, wherein The step of calculating the motion planning magnification based on the real-time joint torque and the reducer torque limit value includes: Acquiring the real-time joint torque and the reducer torque limit value; The real-time joint torque and the reducer torque limit value are substituted into a preset motion planning magnification calculation formula to calculate the motion planning magnification, wherein the motion planning magnification calculation formula is: e(t)=M lim -M t Among them, M lim is the reducer torque limit value, M t is the real-time joint torque at time t, e t is the difference between the reducer torque limit value and the real-time joint torque at time t, K(t) is the motion planning magnification, K p is the proportionality coefficient, K i is the integration coefficient.

5. The method according to claim 4, wherein The method further comprises: Acquiring the real-time joint torque and a preset adjustment value, and comparing the real-time joint torque with the preset adjustment value to obtain a comparison result; The parameters in the preset motion planning magnification calculation formula are adjusted based on the comparison result.

6. The method according to claim 5, wherein The preset adjustment value includes a first adjustment value and a second adjustment value, and the step of adjusting the parameters in the preset motion planning magnification calculation formula based on the comparison result includes: Obtaining the comparison result; If the comparison result is that the real-time joint torque is less than or equal to the first limit value, maintaining the parameters in the preset motion planning magnification calculation formula unchanged; If the comparison result is that the real-time joint torque is greater than the first limit value and less than or equal to the second limit value, the proportional coefficient and the integral coefficient in the preset motion planning magnification calculation formula are increased.

7. The method according to claim 5, wherein The step of adjusting the original motion magnification of the robot by using the motion planning magnification includes: Calculating the product of the motion planning magnification and the original motion magnification to obtain a target motion magnification; The target motion magnification is used as the output magnification of the robot.

8. A motion magnification adjustment device, characterized in that: Applied to a robot, the device comprises: A first calculation unit is used to calculate the real-time joint torque of the robot during movement; A second calculation unit is used to calculate the motion planning magnification based on the real-time joint torque and the reducer torque limit value; The first adjustment unit is configured to adjust the original motion magnification of the robot by using the motion planning magnification so that the real-time joint torque does not exceed the reducer torque limit value.

9. A robot, characterized in that: The robot includes a memory and a processor connected to the memory; the memory is used to store a computer program; the processor is used to run the computer program stored in the memory to perform the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 can be implemented.

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