Motion magnification adjustment method and apparatus, robot, and storage medium

Abstract

The application discloses a motion magnification adjustment method and device, a robot and a storage medium. The method comprises the following steps: calculating a real-time joint torque of the robot in a motion process; calculating a motion planning magnification based on the real-time joint torque and a reducer torque limit value; and adjusting an 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. The application can avoid that the real-time joint torque exceeds the reducer torque limit value, and improve the service life of the reducer.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a method, apparatus, robot, and storage medium for adjusting motion magnification. Background Technology

[0002] Robots are widely used in various fields due to their convenience, such as automated production. Robots can automatically execute preset tasks and plan their motion according to preset motion parameters during the task execution. However, during the robot's movement, the torque output by the robot's joints has a non-linear relationship with its speed and acceleration. This can cause the joint output torque to exceed the torque range that the reducer can withstand, thus reducing the reducer's lifespan.

[0003] To address the aforementioned issues, the 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 reducer's tolerance range. However, this prediction is highly dependent on structural parameters and model formulas. When there are parameter deviations or the model is inaccurate, the predicted torque will deviate significantly from the actual torque, which may still result in the actual torque exceeding the reducer's tolerance range. Summary of the Invention

[0004] This invention provides a motion ratio adjustment method, device, robot, and storage medium, aiming to solve the problem that current joint torque limiting methods have poor accuracy and cannot effectively protect the reducer.

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

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

[0007] The motion planning ratio is calculated based on the real-time joint torque and the reducer torque limit value.

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

[0009] Secondly, embodiments of the present invention also provide a motion magnification adjustment device for use in a robot, the device comprising:

[0010] The first computing unit is used to calculate the real-time joint torque of the robot during its movement.

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

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

[0013] Thirdly, embodiments of the present invention also provide a robot, which includes a memory and a processor connected to the memory, wherein the memory stores a computer program, and the processor executes the computer program to implement the above-described method.

[0014] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the above-described method.

[0015] This invention provides a motion ratio adjustment method, device, robot, and storage medium. The method includes: calculating the real-time joint torque of the robot during motion; calculating a motion planning ratio based on the real-time joint torque and a reducer torque limit; and adjusting the robot's original motion ratio using the motion planning ratio to ensure that the real-time joint torque does not exceed the reducer torque limit. This invention can acquire real-time joint torque, calculate the motion planning ratio based on the real-time joint torque and the reducer torque limit, and then adjust the original motion ratio using the motion planning ratio, ensuring that the real-time joint torque does not exceed the reducer torque limit. This avoids limiting the real-time torque through predicted torque and effectively protects the reducer. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic flowchart of the motion ratio adjustment method provided in an embodiment of the present invention;

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

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

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

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

[0023] Figure 7 This is a feedback diagram of the motion planning ratio and real-time joint torque of the motion ratio adjustment method provided in this embodiment of the invention;

[0024] Figure 8 This is a schematic block diagram of a motion ratio adjustment device provided in an embodiment of the present invention;

[0025] Figure 9 This is a schematic block diagram of the robot provided in an embodiment of the present invention. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

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

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

[0029] Please see Figure 1 , Figure 1 This is a flowchart illustrating the motion ratio adjustment method provided in an embodiment of the present invention. This motion ratio adjustment method can be applied to robots to adjust the robot's motion ratio to prevent the robot's real-time joint torque from exceeding the reducer torque limit value, thereby improving the lifespan of the reducer torque limit value. Figure 1As shown, the method includes steps S100 to S120.

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

[0031] In this embodiment of the invention, the motion magnification adjustment method provided by the present invention can be applied to robots in various fields, such as industrial manufacturing, logistics and warehousing, and special operations. Robots in the industrial manufacturing field can be automotive manufacturing robots and 3C electronics manufacturing robots. For automotive manufacturing robots, changes in the welding torch posture during welding cause sudden changes in joint inertia. Servo feedback is used to adjust the magnification in real time to avoid torque overload. Alternatively, when handling heavy components (such as engine blocks), it prevents instantaneous torque from impacting the reducer. Robots in the logistics and warehousing field can be heavy-duty handling robots and sorting robots. For heavy-duty handling robots, when grasping goods of different weights, torque calculations can be corrected in real time to avoid reducer overload due to sudden load changes. For sorting robots, sudden collisions during high-speed sorting cause torque fluctuations; the motion magnification can be reduced to prevent mechanical damage.

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

[0033] In some embodiments, such as in embodiments of the present invention, as Figure 2 As shown, step 100 includes steps S101-S102.

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

[0035] S102, the motor output torque, the reducer reduction ratio, and the reducer efficiency are substituted 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 represents the real-time joint torque. e η is the output torque of the motor, N is the reduction ratio of the reducer, and η is the efficiency of the reducer.

[0038] In this embodiment of the invention, the motor output torque can be acquired in real time via a servo driver, with the sampling period consistent with the robot control cycle (e.g., 1ms-2ms). The reduction ratio of the reducer is determined by the reducer's mechanical structure and is a fixed value. For example, if the reducer reduction ratio is 100, then for every 100 rotations of the motor, the joint rotates once, and the joint torque is proportionally amplified. The reducer efficiency is affected by the reducer temperature and load rate. For example, a mapping curve between temperature and reducer efficiency can be established by pre-embedded temperature sensors.

[0039]

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

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

[0042] In this embodiment of the invention, the reducer torque limit value is the rated torque limit value of the reducer, 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 ratio can be calculated based on the real-time joint torque and the reducer torque limit value.

[0043] The motion planning ratio is used to limit the robot's initial motion ratio. It is an adjustment coefficient for the initial motion planning ratio, calculated based on real-time joint torque and reducer torque limits, and is used to adjust the initial motion ratio. The initial motion ratio is a user-preset baseline value for robot speed adjustment, used to initially determine the robot's operating speed, acceleration, and other motion parameters. Adjusting the initial motion ratio through the motion planning ratio, and consequently adjusting the robot's joint torque, allows for the adjustment of the initial motion ratio.

[0044] In some embodiments, such as in embodiments of the present invention, as Figure 3 As shown, step 110 includes steps S111-S112.

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

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

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

[0048]

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

[0050] In this embodiment of the invention, the motion planning ratio is the number of adjustment periods of the original motion ratio, which can be calculated from the real-time joint torque and the reducer torque limit value. During calculation, the real-time joint torque and the reducer torque limit value must first be obtained, and then substituted into the preset motion planning ratio calculation formula to calculate the motion planning ratio. In the preset motion planning ratio calculation formula, e(t) is an error formula. When e(t) is greater than 0, it indicates that the robot's current joint torque is within a safe range, and the motion planning ratio can be increased. When e(t) is less than 0, it indicates that the robot's current joint torque exceeds the safe range, and the motion planning ratio needs to be decreased. When e(t) equals 0, it indicates that the robot's current joint torque is at a critical value. K(t) is the real-time motion planning ratio, K... p K is the proportionality constant (typical value 0.5–2.0). i This is the integral coefficient (typical value 0.1 to 0.5, used to eliminate static error).

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

[0052] In some embodiments, such as in embodiments of the present invention, as Figure 4 As shown, the method further includes steps S113-S114.

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

[0054] S114, Adjust the parameters in the preset motion planning ratio calculation formula based on the comparison results.

[0055] In this embodiment of the invention, the preset adjustment value is an empirical value, which is typically close to but less than the reducer torque limit value. When the real-time joint torque approaches the reducer torque limit value, the parameters in the motion planning ratio calculation formula can be adjusted in advance to improve the sensitivity of the motion planning ratio to the joint torque, facilitating 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 ratio calculation formula can be adjusted; when the real-time joint torque is less than or equal to the preset motion planning ratio calculation formula, it can remain unchanged.

[0056] In some embodiments, such as in embodiments 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, Obtain 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, the parameters in the preset motion planning ratio calculation formula remain 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, then increase the proportional coefficient and integral coefficient in the preset motion planning ratio calculation formula.

[0060] In this embodiment of the invention, the preset adjustment value may include a first limit value and a second limit value, wherein the first limit value is less than the second limit value, and the second limit value is the 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 ratio calculation formula remain 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 integral coefficient in the preset motion planning ratio calculation formula may be increased to increase the sensitivity of the motion planning ratio to the joint torque.

[0061] For example, the first limit value is 0.7M. lim The second constraint value is M lim Then, when the real-time joint torque is less than or equal to 0.7M lim At this time, the parameters in the preset motion planning ratio calculation formula can remain unchanged, when the real-time joint torque is at 0.7M. lim With M lim When the ratio is between 1 and 2, the proportional coefficient can be increased by 1.5 times and the integral coefficient by 1.2 times. The formula after the adjustment is:

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

[0063]

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

[0065] S120, the original motion ratio of the robot is adjusted by the motion planning ratio so that the real-time joint torque does not exceed the torque limit value of the reducer.

[0066] In this embodiment of the invention, the motion planning ratio is the adjustment coefficient of the original motion ratio. When the real-time joint torque is large, the motion planning ratio is small, and the original motion ratio can be reduced accordingly to decrease the real-time joint torque. When the real-time joint torque is large, the motion planning ratio is large, and the original motion ratio can be amplified to increase the real-time joint torque. Thus, while meeting the robot's motion requirements, the real-time joint torque can be prevented from exceeding the reducer torque limit.

[0067] In some embodiments, such as in embodiments of the present invention, as Figure 6 As shown, step 120 includes steps S121-S122.

[0068] S121, Calculate the product between the motion planning ratio and the original motion ratio to obtain the target motion ratio;

[0069] S122, the target motion magnification is used as the output magnification of the robot.

[0070] In this embodiment of the invention, the product of the motion planning ratio and the original motion ratio can be used as the target motion ratio, and the target motion ratio can be used as the robot's output ratio to adjust the robot's motion parameters. For example, assuming the original motion ratio is 100%, Voriginal = 500 mm / s, aoriginal = 200 mm / s, and the motion planning ratio is 0.9, then the target motion ratio is 0.9, and correspondingly, Vactual = 450 mm / s, aactual = 162 mm / s can be calculated.

[0071] like Figure 7 As shown, Figure 7 The feedback diagram of motion planning ratio and real-time joint torque allows for the calculation of real-time joint torque based on parameters fed back from the servo actuator. Then, the motion planning ratio is calculated through the ratio regulator, the target ratio is calculated through the motion planner, and finally, the parameters of the shutdown motor are adjusted.

[0072] The motion ratio adjustment method disclosed in this invention can obtain the real-time joint torque, 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 through 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 This is a schematic block diagram of a motion magnification adjustment device 200 provided in an embodiment of the present invention. Figure 8 As shown, corresponding to the above-described motion ratio adjustment method, the present invention also provides a motion ratio adjustment device 200. This motion ratio adjustment device 200 includes a unit for performing the above-described motion ratio adjustment method. Specifically, please refer to... Figure 8 The motion ratio 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 its movement.

[0075] The second calculation unit 202 is used to calculate the motion planning ratio based on the real-time joint torque and the reducer torque limit value.

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

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

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

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

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

[0081] 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 ratio calculation formula to calculate the motion planning ratio, wherein the calculation formula for the motion planning ratio is:

[0083] e t =M lim -M t

[0084]

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

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

[0087] The third acquisition unit is used to acquire the real-time joint torque and the preset adjustment value, and compare the real-time joint torque and 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 ratio calculation formula based on the comparison results.

[0089] In some embodiments, such as this one, the second adjustment unit further includes a fourth acquisition unit, a first maintenance unit, and a third adjustment unit.

[0090] The fourth acquisition unit is used to acquire the comparison result;

[0091] The first maintenance unit is used to maintain the parameters in the preset motion planning ratio calculation formula unchanged if the comparison result is that the real-time joint torque is less than or equal to the first limit value.

[0092] The third adjustment unit is used to increase the proportional coefficient and integral coefficient in the preset motion planning ratio 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 one, the first adjustment unit 203 further includes a fifth calculation unit and a first output unit.

[0094] The fifth calculation unit is used to calculate the product between the motion planning ratio and the original motion ratio to obtain the target motion ratio.

[0095] The first output unit is used 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 ratio adjustment device and each unit can be referred to the corresponding description in the foregoing method embodiments. For the sake of convenience and brevity, it will not be repeated here.

[0097] The aforementioned motion rate adjustment device can be implemented as a computer program, which can, for example... Figure 9 The robot shown is running on it.

[0098] Please see Figure 9 , Figure 9 This is a schematic block diagram of a robot provided in an embodiment of this application. It can be a terminal or a server. The terminal can be an electronic device with communication functions, such as a smartphone, tablet, laptop, desktop computer, personal digital assistant, or wearable device. The 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. The memory may include a non-volatile storage medium 303 and internal memory 304.

[0100] The non-volatile storage medium 303 may store an operating system 3031 and a computer program 3032. When the computer program 3032 is executed, it causes the processor 302 to perform a motion scaling method.

[0101] The processor 302 provides 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 perform a motion rate adjustment method.

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

[0104] It should be understood that in the embodiments of this application, the processor 302 may be a central processing unit (CPU), or it may be other general-purpose processors, digital signal processors (FSPs), application-specific integrated circuits (ASICs), off-the-shelf programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0105] It will be understood by those skilled in the art that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program may be stored in a storage medium, which is a computer-readable storage medium. The computer program is executed by at least one processor in the computer system to implement the process steps of the embodiments of the above methods.

[0106] Therefore, the present invention also provides a storage medium. This 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 above-described motion magnification adjustment method.

[0107] The storage medium can be any computer-readable storage medium capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), magnetic disk, or optical disk.

[0108] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0109] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of each unit is merely a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0110] The steps in the method of this invention can be adjusted, merged, or reduced in order according to actual needs. The units in the device of this invention can be merged, divided, or reduced according to actual needs. Furthermore, the functional units in the various embodiments of this invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0111] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part 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 is stored in a storage medium and includes several instructions to cause a robot to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0112] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0113] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Since these modifications and variations fall within the scope of the claims and their equivalents, this invention also intends to include these modifications and variations.

[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 these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for adjusting the motion magnification, characterized in that, Applied to robots, the method includes: Calculate the real-time joint torque of the robot during its movement; The motion planning ratio is calculated based on the real-time joint torque and the reducer torque limit value. The original motion ratio of the robot is adjusted by the motion planning ratio so that the real-time joint torque does not exceed the reducer torque limit value; The step of calculating the motion planning ratio based on the real-time joint torque and the reducer torque limit value includes: Obtain 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 the preset motion planning ratio calculation formula to calculate the motion planning ratio, wherein the calculation formula for the motion planning ratio is: Among them, M lim M is the torque limit value for the reducer. t Let e ​​be the real-time joint torque at time t. t Let K(t) be the difference between the reducer torque limit at time t and the real-time joint torque, and K(t) be the motion planning ratio. p K is the proportionality coefficient. i is the integral coefficient.

2. The method as described in claim 1, characterized in that, The step of calculating the real-time joint torque of the robot during motion includes: The output torque of the motor, the reduction ratio of the reducer, and the efficiency of the reducer are obtained during the robot's movement. The real-time joint torque is calculated by substituting the motor output torque, the reducer reduction ratio, and the reducer efficiency into the first preset formula.

3. The method as described in claim 2, characterized in that, The first preset formula is: Where M is the real-time joint torque, M e η is the output torque of the motor, N is the reduction ratio of the reducer, and η is the efficiency of the reducer.

4. The method as described in claim 1, characterized in that, The method further includes: The real-time joint torque and the preset adjustment value are obtained, and the real-time joint torque and the preset adjustment value are compared to obtain a comparison result; Based on the comparison results, the parameters in the preset motion planning ratio calculation formula are adjusted.

5. The method as described in claim 4, characterized in that, The preset adjustment value includes a first adjustment value and a second adjustment value. The step of adjusting the parameters in the preset exercise planning ratio calculation formula based on the comparison result includes: Obtain the comparison results; If the comparison result indicates that the real-time joint torque is less than or equal to the first limit value, the parameters in the preset motion planning ratio calculation formula remain unchanged. If the comparison result shows that the real-time joint torque is greater than the first limit value and less than or equal to the second limit value, then the proportional coefficient and integral coefficient in the preset motion planning ratio calculation formula are increased.

6. The method as described in claim 4, characterized in that, The step of adjusting the robot's original motion ratio using the motion planning ratio includes: Calculate the product between the motion planning ratio and the original motion ratio to obtain the target motion ratio; The target motion ratio is used as the output ratio of the robot.

7. A motion magnification adjustment device, characterized in that, The device, applied to robots, includes: The first computing unit is used to calculate the real-time joint torque of the robot during its movement. The second calculation unit is used to calculate the motion planning ratio based on the real-time joint torque and the reducer torque limit value. The first adjustment unit is used to adjust the original motion ratio of the robot through the motion planning ratio so that the real-time joint torque does not exceed the torque limit value of the reducer.

8. 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 as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program that, when executed by a processor, can implement the steps of the method as described in any one of claims 1-6.

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