CN111504682A - Robot joint torque feasibility detection method and system - Google Patents
Robot joint torque feasibility detection method and system Download PDFInfo
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- CN111504682A CN111504682A CN202010415348.2A CN202010415348A CN111504682A CN 111504682 A CN111504682 A CN 111504682A CN 202010415348 A CN202010415348 A CN 202010415348A CN 111504682 A CN111504682 A CN 111504682A
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Abstract
The invention discloses a method and a system for detecting the feasibility of robot joint torque, and relates to the field of robots. The method comprises the following steps: step S1, acquiring the output torque of the driving shaft driven by the driving motor; step S2, obtaining the effective torque of the driving shaft driven by the driving motor; step S3, comparing the effective torque with a rotation threshold: judging whether the effective torque is greater than a rotation threshold value or not, and respectively outputting a first control instruction and a second control instruction; step S4, comparing the control rotation angle with an angle threshold according to the first control instruction: judging whether the rotation angle is larger than an angle threshold value, and respectively carrying out a third control instruction and a fourth control instruction; step S5, controlling the driving motor to reduce the output torque according to a third control instruction; step S6, outputting alarm information according to the fourth control instruction; in step S7, the process exits according to the second control instruction. Has the following beneficial effects: the feasibility of the joint torque of the robot is effectively detected, and the joint torque is controlled to protect the joints of the robot.
Description
Technical Field
The invention relates to the field of robots, in particular to a method and a system for detecting the feasibility of robot joint torque.
Background
With the development of science and technology and the rise of artificial intelligence, more and more robots appear in various fields, especially in the heavy and vigorous activities that human self strength can not finish, replace people to carry out relevant work at this moment to realize reducing artifical input or loss.
When the robot executes heavy tasks, the maximum weight bearing limit of the robot is also provided, and the excessive weight exceeds the maximum bearing capacity of the joint of the robot, so that irreversible damage is often caused to the joint of the robot, the tasks required to be executed by the robot are not completed, the robot is damaged, time and labor are wasted for maintaining the robot, and a considerable maintenance fee is required, so that it is important to evaluate and detect the feasibility of the robot qualified for the heavy tasks. However, the detection of this item is missing in the prior art, and in order to solve the above problems, the invention provides a method and a system for detecting the feasibility of the robot joint torque, which detect the feasibility of the robot joint torque and control the magnitude of the joint torque to protect the joints of the robot.
Disclosure of Invention
In order to solve the above problems, the present invention provides a method for detecting the feasibility of a robot joint torque, where the robot is provided with a plurality of joints, each joint is provided with a corner sensor, a driving motor and a driving shaft connected to the driving motor, the driving motor is used to drive the driving shaft to implement a corresponding motion on the joint, and the corner sensor collects a rotation angle generated by the corresponding motion of the joint in real time, and the method specifically includes the following steps:
step S1, acquiring the output torque of the driving motor driving the driving shaft;
step S2, acquiring the effective torque of the driving motor driving the driving shaft;
the effective moment is the moment of actual effective rotation of the driving shaft after the friction force is overcome;
step S3, comparing the effective torque with the preset rotation threshold:
if the effective torque is larger than the rotation threshold, outputting a first control instruction;
if the effective torque is not larger than the rotation threshold, outputting a second control instruction;
step S4, according to the first control instruction, controlling the rotation angle to compare with a preset angle threshold:
if the rotation angle is larger than the angle threshold, outputting a third control instruction;
if the rotation angle is not larger than the angle threshold, outputting a fourth control instruction;
step S5, controlling the driving motor to reduce the output torque according to the third control instruction;
step S6, outputting alarm information according to the fourth control instruction;
and step S7, exiting according to the second control instruction.
Preferably, the step S1 includes:
step S11, measuring and obtaining the initial output torque of the driving motor;
and step S12, filtering the initial output torque to obtain the output torque.
Preferably, the step S2 includes:
step S21, acquiring the driving torque of the driving shaft for driving the joint to correspondingly act;
step S22, acquiring the friction torque overcome by the corresponding action of the driving shaft driving the joint;
step S23, obtaining the effective torque of the robot according to the driving torque and the friction torque.
Preferably, the step S5 includes:
step S51, detecting the output torque in real time within a preset time to obtain a detection torque;
step S52, reducing the detection torque until the detection torque is lower than the rotation threshold.
Preferably, the robot is a six-axis joint robot.
Preferably, the driving motor is a robot joint driving motor.
A robot joint torque feasibility detection system is applied to a robot joint torque feasibility detection method and comprises the following steps:
the first detection module is used for acquiring the output torque of the driving shaft driven by the driving motor;
the second detection module is used for acquiring the effective torque of the driving motor for driving the driving shaft;
the effective moment is the moment of actual effective rotation of the driving shaft after the friction force is overcome;
the first comparison module is respectively connected with the first detection module and the second detection module and is used for comparing the effective torque with the preset rotation threshold value and outputting a first control instruction when the effective torque is larger than the rotation threshold value; when the effective torque is not larger than the rotation threshold value, outputting a second control instruction;
the second comparison module is connected with the first comparison module and used for controlling the rotation angle to be compared with a preset angle threshold value according to the first control instruction, outputting a third control instruction when the rotation angle is larger than the angle threshold value, and outputting a fourth control instruction when the rotation angle is not larger than the angle threshold value;
the first execution module is connected with the second comparison module and used for controlling the driving motor to reduce the output torque according to the third control instruction;
the second execution module is connected with the second comparison module and used for outputting alarm information according to the fourth control instruction;
and the third execution module is connected with the first comparison module and used for exiting according to the second control instruction.
Preferably, the first detection module includes:
the measuring unit is used for measuring and obtaining the initial output torque of the driving motor;
and the first processing unit is connected with the measuring unit and used for carrying out filtering processing on the initial output torque to obtain the output torque.
Preferably, the second detection module includes:
the second measuring unit is used for measuring the number of turns of the driving shaft to obtain the driving torque of the driving shaft for driving the joint to correspondingly act;
the third measuring unit is connected with the second measuring unit and used for acquiring the friction torque overcome by the corresponding action of the driving shaft driving the joint;
and the second processing unit is connected with the second measuring unit and the third measuring unit and used for obtaining the effective torque of the robot according to the driving torque and the friction torque.
Preferably, the first execution module includes:
the detection unit is used for detecting the output torque in real time within preset time to obtain a detection torque;
and the adjusting unit is connected with the detecting unit and used for reducing the detection torque until the detection torque is lower than the rotation threshold value.
Has the following beneficial effects:
the invention can effectively detect the feasibility of the joint torque of the robot by combining the effective moment of the driving shaft and the rotation angle of the joint to detect the feasibility of the joint torque of the robot, and simultaneously, the joint torque is controlled to protect the joint of the robot.
Drawings
FIG. 1 is a schematic flow chart of a method for detecting torque feasibility of a robot joint according to a preferred embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating the process of obtaining output torque according to the preferred embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating the process of obtaining effective torque according to the preferred embodiment of the present invention;
FIG. 4 is a flow chart illustrating the control of the output torque according to the preferred embodiment of the present invention;
fig. 5 is a schematic structural diagram of a system for detecting torque feasibility of a robot joint according to a preferred embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
In order to solve the above problems, the present invention provides a method for detecting the feasibility of robot joint torque, wherein a robot is provided with a plurality of joints, each joint is provided with a corner sensor, a driving motor and a driving shaft connected with the driving motor, the driving motor is used for driving the driving shaft to implement corresponding actions on the joint, and the corner sensor collects the rotation angle generated by the corresponding actions on the joint in real time, as shown in fig. 1, the method specifically comprises the following steps:
step S1, acquiring the output torque of the driving shaft driven by the driving motor;
step S2, obtaining the effective torque of the driving shaft driven by the driving motor;
the effective moment is the moment of actual effective rotation of the driving shaft after overcoming the friction force;
step S3, comparing the effective torque with a preset rotation threshold:
if the effective torque is larger than the rotation threshold, outputting a first control instruction;
if the effective torque is not greater than the rotation threshold, outputting a second control instruction;
step S4, comparing the control rotation angle with a preset angle threshold according to the first control instruction:
if the rotation angle is larger than the angle threshold value, outputting a third control instruction;
if the rotation angle is not larger than the angle threshold, outputting a fourth control instruction;
step S5, controlling the driving motor to reduce the output torque according to a third control instruction;
step S6, outputting alarm information according to the fourth control instruction;
in step S7, the process exits according to the second control instruction.
In particular, in the embodiment, the feasibility of detecting the joint torque of the robot is combined with the effective moment of the driving shaft and the rotation angle of the joint, so that the feasibility of the joint torque of the robot can be effectively detected, and the joint torque is controlled to protect the joint of the robot.
Firstly, acquiring the output torque of a driving motor on the robot, wherein the output torque represents the driving capability of the driving motor, and then acquiring the effective torque on a driving shaft on the robot; the effective torque is the torque lost by the driving shaft due to friction without generating an effective action path on the robot, and the friction torque is the torque consumed by the driving shaft to overcome the friction force of the driving shaft; the effective torque which can actually generate effective action of the robot is obtained according to the output torque and the friction torque, when the effective torque is larger than the rotation threshold, the robot has certain risk of damage caused by overlarge effective torque, certain measures must be taken, specifically, when the rotation angle is larger than the angle threshold, a driving motor is controlled to reduce the output torque, harmful influence on joints of the robot is eliminated, voice alarm can be synchronously output, when the rotation angle is not larger than the angle threshold, the harmful influence on the joints of the robot is not very large, but attention needs to be paid to, at the moment, alarm information is output, an operator is reminded of paying attention to the fact that the effective torque is larger than the rotation threshold, and attention needs to be paid to all the time; when the effective moment is not greater than the rotation threshold, the effective moment is completely within the range that the joint can bear, excessive attention is not needed, and the robot does not need to take any measures.
In a preferred embodiment of the present invention, as shown in fig. 2, step S1 includes:
step S11, measuring and obtaining the initial output torque of the driving motor;
and step S12, filtering the initial output torque to obtain the output torque.
Specifically, in this embodiment, an initial output torque of the driving motor is first measured, and then the initial output torque is filtered to eliminate interference, so as to obtain a true and reliable output torque.
In a preferred embodiment of the present invention, as shown in fig. 3, step S2 includes:
step S21, acquiring the driving moment of the driving joint of the driving shaft;
step S22, acquiring the friction torque overcome by the corresponding action of the driving joint of the driving shaft;
and step S23, obtaining the effective torque of the robot according to the driving torque and the friction torque.
Specifically, in this embodiment, the driving torque of the driving joint of the driving shaft corresponding to the motion is obtained, a friction force is inevitably generated during the rotation of the driving shaft, then the friction torque overcome by the driving joint of the driving shaft corresponding to the motion is obtained, and finally the effective torque of the robot is obtained through the driving torque and the friction torque.
In a preferred embodiment of the present invention, as shown in fig. 4, step S5 includes:
step S51, detecting the output torque in real time within a preset time to obtain a detection torque;
in step S52, the detection torque is decreased until the detection torque is lower than the rotation threshold.
Specifically, in the present embodiment, in order to detect the output torque, the detection torque is obtained, and the detection torque is reduced until the detection torque is lower than the rotation threshold.
In the preferred embodiment of the present invention, the robot is a six-axis joint robot.
In a preferred embodiment of the present invention, the driving motor is a robot joint driving motor.
A system for detecting the feasibility of robot joint torque is applied to a method for detecting the feasibility of robot joint torque, as shown in FIG. 5, and comprises:
the first detection module 1 is used for acquiring the output torque of a driving shaft driven by a driving motor;
the second detection module 2 is used for acquiring the effective moment of the driving shaft driven by the driving motor;
the effective moment is the moment of actual effective rotation of the driving shaft after overcoming the friction force;
the first comparison module 3 is respectively connected with the first detection module 1 and the second detection module 2 and is used for comparing the effective torque with a preset rotation threshold value and outputting a first control instruction when the effective torque is greater than the rotation threshold value; when the effective torque is not larger than the rotation threshold value, outputting a second control instruction;
the second comparison module 4 is connected with the first comparison module 3 and is used for comparing the control rotation angle with a preset angle threshold value according to the first control instruction, outputting a third control instruction when the rotation angle is larger than the angle threshold value, and outputting a fourth control instruction when the rotation angle is not larger than the angle threshold value;
the first execution module 5 is connected with the second comparison module 4 and used for controlling the driving motor to reduce the output torque according to a third control instruction;
the second execution module 6 is connected with the second comparison module 4 and used for outputting alarm information according to the fourth control instruction;
and the third execution module 7 is connected with the first comparison module 3 and used for exiting according to the second control instruction.
Specifically, in the present embodiment, the first detection module 1 and the second detection module 2 respectively obtain the output torque of the driving motor and the effective torque on the driving shaft; the first comparison module 3 compares the effective torque with a rotation threshold, when the effective torque is larger than the rotation threshold, the rotation angle is analyzed, when the rotation angle is larger than the angle threshold, the first execution module 5 controls the driving motor to reduce the output torque, harmful effects on joints of the robot are eliminated, and a voice alarm can be output synchronously, when the rotation angle is not larger than the angle threshold, the harmful effects on the joints of the robot are not large, but need to be emphasized, at the moment, the second execution module 6 outputs alarm information to remind an operator of emphasizing that the effective torque is larger than the rotation threshold, and the purpose of warning is achieved; when the effective torque is not greater than the rotation threshold, the effective torque is completely borne by the joint, excessive attention is not needed, the third execution module 7 exits the detection operation according to the instruction, and the robot does not need to take other measures.
In a preferred embodiment of the present invention, the first detecting module 1 includes:
the measuring unit 11 is used for measuring and obtaining the initial output torque of the driving motor;
and the first processing unit 12 is connected with the measuring unit 11 and is used for performing filtering processing on the initial output torque to obtain the output torque.
In a preferred embodiment of the present invention, the second detecting module 2 includes:
the second measuring unit 21 is used for measuring the number of driving turns of the driving shaft and acquiring the driving moment of the driving joint of the driving shaft in corresponding action;
the third measuring unit 22 is connected with the second measuring unit 21 and is used for acquiring the friction torque overcome by the corresponding action of the driving joint of the driving shaft;
and the second processing unit 23 is connected with the second measuring unit 21 and the third measuring unit 22 and is used for obtaining the effective torque of the robot according to the driving torque and the friction torque.
In a preferred embodiment of the present invention, the first execution module 5 includes:
the detection unit 51 is used for detecting the output torque in real time within a preset time to obtain a detection torque;
and an adjusting unit 52 connected to the detecting unit 51 for reducing the detection torque until the detection torque is lower than the rotation threshold.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. A robot joint torque feasibility detection method is characterized in that a plurality of joints are arranged on a robot, a corner sensor, a driving motor and a driving shaft connected with the driving motor are arranged on each joint, the driving motor is used for driving the driving shaft to realize corresponding actions on the joints, and meanwhile, the corner sensor collects rotation angles generated by the corresponding actions on the joints in real time, and the robot joint torque feasibility detection method specifically comprises the following steps:
step S1, acquiring the output torque of the driving motor driving the driving shaft;
step S2, acquiring the effective torque of the driving motor driving the driving shaft;
the effective moment is the moment of actual effective rotation of the driving shaft after the friction force is overcome;
step S3, comparing the effective torque with the preset rotation threshold:
if the effective torque is larger than the rotation threshold, outputting a first control instruction;
if the effective torque is not larger than the rotation threshold, outputting a second control instruction;
step S4, according to the first control instruction, controlling the rotation angle to compare with a preset angle threshold:
if the rotation angle is larger than the angle threshold, outputting a third control instruction;
if the rotation angle is not larger than the angle threshold, outputting a fourth control instruction;
step S5, controlling the driving motor to reduce the output torque according to the third control instruction;
step S6, outputting alarm information according to the fourth control instruction;
and step S7, exiting according to the second control instruction.
2. The robot joint torque feasibility detection method according to claim 1, wherein the step S1 includes:
step S11, measuring and obtaining the initial output torque of the driving motor;
and step S12, filtering the initial output torque to obtain the output torque.
3. The robot joint torque feasibility detection method according to claim 1, wherein the step S2 includes:
step S21, acquiring the driving torque of the driving shaft for driving the joint to correspondingly act;
step S22, acquiring the friction torque overcome by the corresponding action of the driving shaft driving the joint;
step S23, obtaining the effective torque of the robot according to the driving torque and the friction torque.
4. The robot joint torque feasibility detection method according to claim 3, wherein the step S5 includes:
step S51, detecting the output torque in real time within a preset time to obtain a detection torque;
step S52, reducing the detection torque until the detection torque is lower than the rotation threshold.
5. The method for detecting the feasibility of torque of a robot joint according to claim 1, wherein the robot is a six-axis joint robot.
6. The method for detecting feasibility of robot joint torque according to claim 1, wherein the driving motor is a robot joint driving motor.
7. A robot joint torque feasibility detection system applied to the robot joint torque feasibility detection method according to claims 1 to 6, comprising:
the first detection module is used for acquiring the output torque of the driving shaft driven by the driving motor;
the second detection module is used for acquiring the effective torque of the driving motor for driving the driving shaft;
the effective moment is the moment of actual effective rotation of the driving shaft after the friction force is overcome;
the first comparison module is respectively connected with the first detection module and the second detection module and is used for comparing the effective torque with the preset rotation threshold value and outputting a first control instruction when the effective torque is larger than the rotation threshold value; when the effective torque is not larger than the rotation threshold value, outputting a second control instruction;
the second comparison module is connected with the first comparison module and used for controlling the rotation angle to be compared with a preset angle threshold value according to the first control instruction, outputting a third control instruction when the rotation angle is larger than the angle threshold value, and outputting a fourth control instruction when the rotation angle is not larger than the angle threshold value;
the first execution module is connected with the second comparison module and used for controlling the driving motor to reduce the output torque according to the third control instruction;
the second execution module is connected with the second comparison module and used for outputting alarm information according to the fourth control instruction;
and the third execution module is connected with the first comparison module and used for exiting according to the second control instruction.
8. The robotic joint torque feasibility detection system of claim 7, wherein the first detection module comprises:
the measuring unit is used for measuring and obtaining the initial output torque of the driving motor;
and the first processing unit is connected with the measuring unit and used for carrying out filtering processing on the initial output torque to obtain the output torque.
9. The robotic joint torque feasibility detection system of claim 7, wherein the second detection module comprises:
the second measuring unit is used for measuring the number of turns of the driving shaft to obtain the driving torque of the driving shaft for driving the joint to correspondingly act;
the third measuring unit is connected with the second measuring unit and used for acquiring the friction torque overcome by the corresponding action of the driving shaft driving the joint;
and the second processing unit is connected with the second measuring unit and the third measuring unit and used for obtaining the effective torque of the robot according to the driving torque and the friction torque.
10. The robotic joint torque feasibility detection system of claim 7, wherein the first execution module comprises:
the detection unit is used for detecting the output torque in real time within preset time to obtain a detection torque;
and the adjusting unit is connected with the detecting unit and used for reducing the detection torque until the detection torque is lower than the rotation threshold value.
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