WO2019113817A1

WO2019113817A1 - Robot and power-off compensation method thereof, and device having storage function

Info

Publication number: WO2019113817A1
Application number: PCT/CN2017/115841
Authority: WO
Inventors: 张鹏飞
Original assignee: 深圳配天智能技术研究院有限公司
Priority date: 2017-12-13
Filing date: 2017-12-13
Publication date: 2019-06-20
Also published as: CN109414815B; CN109414815A

Abstract

Provided are a robot and a power-off compensation method thereof, and a device having a storage function. The method comprises the following steps: upon receiving a power-off instruction, acquiring torques of respective shafts of a robot; respectively performing calculations, according to the torques of the respective shafts and corresponding parameter information, to obtain offset amounts of the respective shafts after a power-off operation has been performed; and performing power-off compensation of the respective shafts according to the offset amounts. The above method enables quick compensation of offset amounts of respective shafts after execution of a power-off operation, thereby significantly reducing wear of bearings in a power-off operation, and increasing stability of a robot.

Description

Robot and power-off compensation method thereof, device with storage function

[Technical Field]

The present invention relates to the field of automatic control, and in particular to a robot and a power-off compensation method thereof, and a device having a storage function.

【Background technique】

With the development of artificial intelligence technology and changes in social needs, higher requirements are placed on the working ability of robots, especially for the most widely used industrial robots.

Industrial robots are multi-joint robots or multi-degree-of-freedom machines for the industrial field. They can perform work automatically. They are machines that realize various functions by their own power and control. It can be commanded by humans or run in accordance with pre-programmed procedures, and modern industrial robots can also act according to the principles of artificial intelligence.

The process of powering off the industrial robot at zero speed is: the upper machine sends a servo-off signal; the drive controls the brake to pull in; the drive controls the power to be powered off; the upper machine controls the power contactor to open. In order to avoid the obvious drop of the robot when there is load, the brake will be sucked first in the power-off process, and the power will delay the power-off. The delay time is generally slightly larger than the mechanical action time of the brake. However, the brake itself has a play, which is generally ±1°. Therefore, even if the brake is locked, it will be dropped on the basis of the original power-off position, and the drop angle is positively correlated with the load. However, in the prior art, the nodding caused by the brake clearance during power-off is not compensated, and the error continues to accumulate. Therefore, when the user continuously powers down, the amount of the nod is more obvious, and it is easy to cause a power failure. The wear and tear of the bearing affects the user's use.

[Summary of the Invention]

The technical problem to be solved by the present invention is to provide a robot and a power-off compensation method thereof, and a device having a storage function, which compensates for the offset generated by the brake clearance when the robot is powered off, so that the robot maintains the position after power-off each time. Consistent with before powering down.

In order to solve the above technical problem, the present invention provides a method for power-off compensation of a robot, comprising the steps of: acquiring a torque of each axis of the robot when receiving a power-off command; and respectively according to the torque of each axis and corresponding parameter information Calculate the offset of each axis after power-off; perform power-off compensation for each axis according to the offset of each axis.

In order to solve the above technical problem, the present invention provides a robot including a control circuit, a memory, and a processor; the control circuit is configured to transmit a control command; the storage is configured to store a computer program, data generated during operation of the computer program, and Controller resource information; when the processor is in operation, the following program is executed: when receiving the power-off command, acquiring each axis torque of the robot; and calculating, according to the axis torque and the corresponding parameter information, each axis after power-off Offset amount; each axis is powered down-compensated according to the offset of each axis.

In order to solve the above technical problem, the present invention provides a device having a storage function, the device having a storage function storing program data, the program data being executable to implement the following steps: when receiving a power-off command, acquiring Describe the torque of each axis of the robot; calculate the offset of each axis after power-off according to the torque of each axis and the corresponding parameter information; and perform power-off compensation for each axis according to the offset of each axis.

The beneficial effects of the present invention are: different from the prior art, the method for reducing power compensation of the robot of the present invention compensates the offset of the robot when the power is turned off by calculating the torque of each axis, thereby avoiding the error when the user continuously powers down. Continue to accumulate. Through the above method, the offset of each axis after power failure is quickly compensated, the wear of the bearing during power failure is greatly reduced, and the stability of the robot is improved.

[Description of the Drawings]

1 is a schematic flow chart of an embodiment of a method for powering down a robot according to the present invention;

2 is a schematic structural view of an embodiment of a robot according to the present invention;

3 is a schematic structural view of an embodiment of a device having a storage function according to the present invention.

【Detailed ways】

Referring to FIG. 1 , FIG. 1 is a schematic flowchart of a method for power-off compensation of a robot according to an embodiment of the present invention. The method for power-off compensation of a robot of the present embodiment includes the following steps:

101: Acquire a torque of each axis of the robot when receiving the power-off command;

Specifically, the robot processor acquires a power-off command. In this embodiment, the power-off command is a power-off command, and one power-off command cancels each drive outside the control circuit. The calculation module is loaded according to the power-off command, and the gravity value of each axis body, the gravity value of the load of each axis body, the centrifugal force value of each axis, the Coriolis force value of each axis, the inertial force value of each axis, and the respective axes are respectively obtained. The friction value is finally calculated by combining the above values (specifically, the following formula (1)) to obtain the torque of each axis.

Where G(q) represents a gravity vector, which is the gravity value of each axis body and the gravity value of the load of each axis body;

Indicates the centrifugal force value of each axis and the Coriolis force of each axis;

Represents the inertia vector;

error! The reference source was not found. It represents the friction of the transmission link, including Coulomb friction and viscous friction of each axis, and T _d is the torque of each axis.

In a specific embodiment, in order to be able to monitor the force and other parameter information of each axis of the robot. The gravity change sensor is used to measure the gravity value of each axis body and the gravity value of the load of each axis body in real time. The built-in axis torque sensing device is used to detect the centrifugal force value and the Coriolis force of each axis in real time; the accelerometer is used to measure the robot inertia vector. The change is selected; the transmission sensor is used to measure the friction of the transmission link. Combine the force conditions of each axis separately, and substitute the above formula (1) to calculate the torque of each axis.

Further, due to the various parameters of the robot, it is also possible to perform simulation simulation on each axis parameter according to various actions performed by the disassembling robot, and obtain the gravity value of each axis body and the gravity value of the load of each axis body. The centrifugal force value of each axis, the Coriolis force value of each axis, the inertial force value of each axis, and the friction force value of each axis, etc., and the respective axial moments are adjusted according to the respective correction parameters. This mode is another computing module that is different from the above. Specifically, during the execution of each task, the robot disassembles the running track into various basic actions, obtains various parameter information of each basic action, and adds various parameter information to the simulation software to establish a robot force model. The force of each axis is calculated by the robot force model. In this way, according to the final action of the robot, the force of each axis and other parameter information after the robot is powered off can be obtained.

102: Calculate, according to each axis torque and corresponding parameter information, an offset of each axis after power-off;

In this embodiment, after obtaining the torque of each axis, the parameter information corresponding to each bearing is found, and the offset of each axis is calculated comprehensively (such as the following formula (2)). Specifically, through the gap between the brake pad and the brake wheel in the robot brake device, the brake clearance is actually measured, and then the proportional coefficient of the brake clearance and the load is measured according to the operation condition of the brake device, and finally The axial moments obtained above were calculated for each axis offset.

W=K×T _d (2)

Where K is the proportional coefficient of the brake clearance and the load, T _{d is} the torque of each axis, and W is the offset of each axis.

103: Perform power-off compensation for each axis according to each axis offset.

Specifically, the internal axis of the robot is selected as a reference, and the position information of each axis is converted into position information according to each axis offset obtained in the previous direction, and the position information of each axis is converted into a position command, and the position command is controlled. The system circuit is sent to the corresponding drive, and the corresponding drive performs power-off compensation for each axis according to the position command. Finally, the brake is engaged and the power is turned off to make the main line power off.

In this embodiment, in order to ensure the stability of the robot, further, it is necessary to determine whether to accept the electrical compensation of each axis through the built-in processor of the robot; if the compensation has ended, issue a control command, and pull the brake according to the control command. At the same time, the drive control power and the main line power are disconnected.

Further, in order to avoid excessive compensation distance, the robot power-off process can be set to compensate in steps. Specifically, the positional information of each of the axes is divided into position information of each of the plurality of axes, and the positional information of each of the plurality of axes is sequentially split into stepwise position commands, and each step is commanded by a stepwise position. The axis performs step-by-step power-down compensation. Finally, the brake is engaged and the power is turned off to make the main line power off.

In a specific embodiment, an industrial robot power down process is exemplified. After receiving the user power-off command, the robot loads the calculation module according to the power-off instruction, and disassembles the various actions performed by the robot, and then simulates and simulates each axis parameter to obtain the gravity value of each axis body and the body of each axis body. The gravity value of the load, the centrifugal force value of each axis, the Coriolis force value of each axis, the inertial force value of each axis, and the friction force value of each axis are integrated and calculated (specifically, formula (1)). Get the torque of each axis. After obtaining the torque of each axis, correspondingly find the parameter information corresponding to each bearing, and comprehensively calculate the offset of each axis (specifically, formula (2)). The internal axis of the robot is selected as a reference, and the position information of each axis is converted into position information according to the offset of each axis obtained in the previous direction, and the position information of each axis is converted into a position command, and the position command is sent to the corresponding drive through the control circuit, and the corresponding drive is based on The position command performs power-off compensation for each axis. Finally, the brake is engaged and the power is turned off to make the main line power off.

Different from the prior art, the method for powering off the robot of the present embodiment compensates the offset of the robot when the power is turned off by calculating the torque of each axis, thereby avoiding the continuous accumulation of errors when the user continuously powers down. Through the above method, the offset of each axis after power failure is quickly compensated, the wear of the bearing during power failure is greatly reduced, and the stability of the robot is improved.

Referring to FIG. 2, FIG. 2 is a schematic structural view of an embodiment of a robot according to the present invention.

As shown in FIG. 2, the robot of this embodiment includes a control circuit 201, a memory 202, and a processor 203.

In this embodiment, the control circuit 201 is used for transmitting control commands; the storage 202 is configured to store computer programs, data generated during operation of the computer program, and controller resource information;

The processor 203 executes the following procedures while in operation:

When the processor 203 receives the power-off command, it acquires each axis torque of the robot.

Specifically, when receiving the power-off instruction, the processor 203 loads the calculation module according to the power-off instruction, respectively Obtain the gravity value of each axis body, the gravity value of the load of each axis body, the centrifugal force value of each axis, the Coriolis force value of each axis, the inertial force value of each axis, and the friction value of each axis, and finally the above values After comprehensive summary calculation, the torque of each axis is obtained.

The gravity value of each shaft body, the gravity value of the load of each shaft body, the centrifugal force value of each axis, the Coriolis force value of each axis, the inertial force value of each axis, and the friction force value of each axis are parameters for each axis Simulated and simulated. Specifically, during the execution of each task, the robot disassembles the running track into various basic actions, obtains various parameter information of each basic action, and adds various parameter information to the simulation software to establish a robot force model. The force of each axis is calculated by the robot force model.

The processor 203 calculates the offset of each axis after power-off according to each axis torque and corresponding parameter information.

In this embodiment, after obtaining the torque of each axis, the processor 203 finds the parameter information corresponding to each bearing, and comprehensively calculates the offset of each axis.

The processor 203 performs power-down compensation for each axis according to each axis offset.

Specifically, the processor 203 respectively sends the axis offset generation position command to the corresponding drive, and the corresponding drive performs power-off compensation for each axis according to the position command.

The parameter information includes the proportional coefficient of the brake clearance and the load.

In this embodiment, in order to ensure the stability of the robot, further, it is necessary to determine whether to accept the electrical compensation of each axis through the built-in processor 203 of the robot; if the compensation has ended, issue a control command, and the brake is applied according to the control command. At the same time, the drive control power and the main line power are disconnected.

Further, in order to avoid excessive compensation distance, the robot power-off process can be set to compensate in steps. Specifically, the processor 203 converts each axis offset obtained in the previous direction into position information of each of the plurality of axes, and sequentially converts the position information of the plurality of axes into a step position command, and the step position command is used. The adjustment process is adjusted to multiple times. Finally, the brake is engaged and the power is turned off to make the main line power off.

In a specific embodiment, an industrial robot power down process is exemplified. After receiving the power-off command from the user, the robot processor 203 loads the calculation module according to the power-off instruction, and disassembles each action performed by the robot, and then performs simulation simulation on each axis parameter to obtain the gravity value of each axis body, and each The gravity value of the load of the shaft body, the centrifugal force value of each axis, the Coriolis force value of each axis, the inertial force value of each axis, and the friction force value of each axis are collectively calculated and obtained, and the respective shaft moments are obtained. After the processor 203 obtains the torque of each axis, correspondingly finds the parameter information corresponding to each bearing, and comprehensively calculates the offset of each axis. The internal axis of the robot is selected as a reference, and the processor 203 converts according to the offsets obtained by the previous axes. The position information of each axis is converted into a position command by the position information of each axis, and the position command is transmitted to the corresponding drive through the control circuit 201, and the corresponding drive performs power-off compensation for each axis according to the position command. Finally, the brake is engaged and the power is turned off to make the main line power off.

The present invention also provides a device having a storage function, see FIG. 3 is a schematic structural diagram of an apparatus having a storage function of the present invention. The device 301 having a storage function stores program data 302, which can be executed by a processor to implement the following steps: when receiving a power-off command Obtaining each axis torque of the robot; calculating an offset of each axis after power-off according to each axis torque and corresponding parameter information; and respectively performing power-off compensation for each axis according to the offset of each axis. For the specific implementation process, refer to the related text description of the foregoing embodiment, and details are not described herein again.

The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the invention and the drawings are directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of the present invention.

Claims

A method for power-off compensation of a robot, comprising the steps of:

Acquiring each shaft torque of the robot when receiving the power-off command;

Calculating an offset of each axis after power-off according to each axis torque and corresponding parameter information;

Each axis is powered down based on the respective axis offsets.
The robot power-off compensation method according to claim 1, wherein the specific steps of respectively performing power-off compensation for each axis according to the offset of each axis include:

The respective axis offset generation position commands are respectively sent to the corresponding drive, and the corresponding drive performs power-off compensation for each axis according to the position command.
The robot power-off compensation method according to claim 2, wherein the respective axis offset generation position command is respectively sent to a corresponding drive, and the corresponding drive respectively pairs each according to the position command The step of performing the power-off compensation of the axis specifically includes: respectively transmitting, by the respective axis offsets, a step-by-step position command to the corresponding driving, wherein the corresponding driving step-by-steps each axis according to the step-by-step position command Electrical compensation.
The robot power-off compensation method according to claim 1, wherein the step of power-off compensation of each axis according to the offset of each axis further comprises the following steps:

Control the brake to pull in, drive the power to power off and make the main line power off.
A robot power-off compensation method according to claim 1, wherein the specific steps of acquiring the shaft torque of the robot when receiving the power-off command include:

When receiving the power-off command, the calculation module is loaded according to the power-off command, and the gravity value of each axis body, the gravity value of the load of each axis body, the centrifugal force value of each axis, the Coriolis force value of each axis, and each axis are respectively acquired. The inertial force value and the frictional force value of each axis are calculated by the above respective values, and the respective axial moments are obtained.
A robot power-off compensation method according to claim 5, wherein the gravity value of each of the shaft bodies, the gravity value of the load of each axis body, the centrifugal force value of each axis, and the Coriolis force value of each axis The inertial force value of each axis and the friction value of each axis are obtained by simulating the parameters of each axis.
A robot power-off compensation method according to claim 1, wherein said parameter information comprises a proportional coefficient of a brake clearance and a load.
A robot power-off compensation method according to claim 7, wherein said offset amount is a product of said proportional coefficient and said respective shaft moments.
A robot characterized by comprising a control circuit, a memory and a processor;

The control circuit is configured to transmit a control command;

The storage device is configured to store a computer program, data generated during operation of the computer program, and controller resource information;

The processor is configured to execute the following program:

Acquiring each shaft torque of the robot when receiving the power-off command;

Calculating an offset of each axis after power-off according to each axis torque and corresponding parameter information;

Each axis is powered down based on the respective axis offsets.
The robot according to claim 9, wherein the processor is further configured to respectively send the respective axis offset generation position command to a corresponding drive, and the corresponding drive respectively respectively according to the position command Each axis is powered down.
A robot according to claim 10, wherein said processor is further configured to respectively transmit said positional command for generating said step offset to said corresponding drive, said corresponding drive according to said score The position command of the step performs step-by-step power-off compensation for each axis.
The robot according to claim 9, wherein the processor is further configured to control the brake pull-up, and drive the power to be powered off to disconnect the main line power.
The robot according to claim 9, wherein the processor is further configured to: when receiving the power-off command, load the calculation module according to the power-off instruction, respectively acquire the gravity value of each axis body, and each axis body The gravity value of the load, the centrifugal force value of each axis, the Coriolis force value of each axis, the inertial force value of each axis, and the frictional force value of each axis are calculated by the above respective values, and the respective axial moments are obtained.
A robot according to claim 13, wherein the gravity value of each of the shaft bodies, the gravity value of the load of each of the shaft bodies, the centrifugal force value of each axis, the Coriolis force value of each axis, and the respective axes The inertial force value and the friction value of each axis are obtained by simulating the parameters of each axis.
A robot according to claim 9, wherein said parameter information includes a proportional coefficient of a brake clearance and a load.
A device having a storage function, characterized in that the device having a storage function stores program data, and the program data can be executed to implement the following steps:

Acquiring each shaft torque of the robot when receiving the power-off command;

Calculating an offset of each axis after power-off according to each axis torque and corresponding parameter information;

Each axis is powered down based on the respective axis offsets.
A device having a storage function according to claim 16, wherein said root The specific steps of respectively performing power-off compensation for each axis according to the offset of each axis include:

The respective axis offset generation position commands are respectively sent to the corresponding drive, and the corresponding drive performs power-off compensation for each axis according to the position command.
A device with a storage function according to claim 16, wherein the respective axis offset generation position command is respectively sent to a corresponding drive, and the corresponding drive powers off each axis according to the position command The steps of compensation specifically include:

The respective positional commands for generating the step offsets are respectively sent to the corresponding driving, and the corresponding driving performs stepwise power-off compensation for each axis according to the stepped position command.
A device with a storage function according to claim 16, wherein the step of separately charging each axis according to the offset of each axis further comprises the following steps:

Control the brake to pull in, drive the power to power off and make the main line power off.
The device with a storage function according to claim 16, wherein the specific steps of acquiring the shaft moments of the robot when receiving the power-off command include:

When receiving the power-off command, the calculation module is loaded according to the power-off command, and the gravity value of each axis body, the gravity value of the load of each axis body, the centrifugal force value of each axis, the Coriolis force value of each axis, and each axis are respectively acquired. The inertial force value and the frictional force value of each axis are calculated by the above respective values, and the respective axial moments are obtained.