CN111702810B - Method and device for determining power spring of robot - Google Patents
Method and device for determining power spring of robot Download PDFInfo
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- CN111702810B CN111702810B CN202010617639.XA CN202010617639A CN111702810B CN 111702810 B CN111702810 B CN 111702810B CN 202010617639 A CN202010617639 A CN 202010617639A CN 111702810 B CN111702810 B CN 111702810B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/0016—Balancing devices using springs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
The application discloses a method and a device for determining a power spring of a robot. The method comprises the following steps: under the condition that the power-assisted spring does not work on the first mechanical arm, acquiring the minimum torque of a motor for balancing the first mechanical arm, the second mechanical arm and the first load; in the forward extending posture of the mechanical arm, acquiring a first torque corresponding to a load generated by the first mechanical arm, the second mechanical arm and the first load together under the condition that the output of the power-assisted spring is maximum; in the backward-leaning posture of the mechanical arm, under the condition that the output of the power-assisted spring is maximum, a second torque corresponding to the load generated by the first mechanical arm, the second mechanical arm and the second load together is obtained; determining a torque range of the assist spring based on the minimum torque of the motor, the first torque, and the second torque; the specification of the assist spring is determined based on the torque range of the assist spring. Through the application, the problem that a suitable power spring is difficult to determine for the mechanical arm of the two-axis robot in the related art is solved.
Description
Technical Field
The application relates to the field of two-axis robots, in particular to a method and a device for determining a power spring of a robot.
Background
For a medium-sized industrial robot, such as a robot with a rated load exceeding 50kg, in order to achieve the purpose of stable operation, a power spring is needed to balance the torsion force of the robot when a biaxial joint operates, specifically, the specification of the power spring may be a mechanical spring, a nitrogen spring, and the like, performance parameters of the power spring affect the performance of the robot, in order to determine a suitable power spring, a continuous test mode is mainly adopted in the related art to select springs for different robots, the efficiency of selecting adaptive springs is low, and how to efficiently select a suitable spring according to the condition of the robot and the load condition so that the spring can be matched with a biaxial motor to work in a coordinated manner, and a solution is not yet provided in the related art.
Aiming at the problem that a proper power spring is difficult to determine for a mechanical arm of a two-axis robot in the related art, an effective solution is not provided at present.
Disclosure of Invention
The application provides a method and a device for determining a power spring of a robot, which are used for solving the problem that a proper power spring is difficult to determine for a mechanical arm of a two-axis robot in the related art.
According to an aspect of the present application, there is provided a method of determining a power spring of a robot. The robot includes the base, and the base is connected with first arm, and the one end that first arm is close to the base is connected with the output shaft of motor, and the output shaft of motor is used for providing power for first arm, and the one end that base was kept away from to first arm is connected with the second arm, and the second arm is used for carrying the load, and the robot still includes helping hand spring, and the one end setting of helping hand spring is on the base, and the other end setting of helping hand spring is on first arm, and the method includes: under the condition that the power-assisted spring does not work on the first mechanical arm, acquiring the minimum torque of a motor for balancing the first mechanical arm, the second mechanical arm and the first load; in the forward extending posture of the mechanical arm, under the condition that the output of the power-assisted spring is maximum, a first torque corresponding to a load generated by the first mechanical arm, the second mechanical arm and the first load together is obtained, wherein the first torque is balanced by the torque of the power-assisted spring and the torque of the motor together; in the backward-leaning posture of the mechanical arm, under the condition that the output of the power-assisted spring is maximum, a second torque corresponding to the load generated by the first mechanical arm, the second mechanical arm and the second load together is obtained, wherein the torque of the power-assisted spring is balanced by the second torque and the torque of the motor together; determining a torque range of the assist spring based on the minimum torque of the motor, the first torque, and the second torque; the specification of the assist spring is determined based on the torque range of the assist spring.
Optionally, determining the torque range of the assist spring based on the minimum torque of the motor, the first torque, and the second torque comprises: calculating the difference between the first torque and the minimum torque to obtain a first target torque; calculating the sum of the second torque and the minimum torque to obtain a second target torque; a torque range of the assist spring is determined based on the first target torque and the second target torque.
Optionally, before determining the torque range of the assist spring based on the first target torque and the second target torque, the method further comprises: adjusting the minimum torque; calculating the difference between the first torque and the adjusted minimum torque to obtain an adjusted first target torque, wherein the adjusted first target torque is larger than the first target torque before adjustment; calculating the sum of the second torque and the adjusted minimum torque to obtain an adjusted second target torque, wherein the adjusted second target torque is smaller than the second target torque before adjustment; determining the torque range of the assist spring based on the first target torque and the second target torque includes: and determining the torque range of the power-assisted spring based on the adjusted first target torque and the adjusted second target torque.
Optionally, determining the specification of the assist spring based on the torque range of the assist spring comprises: acquiring a stroke parameter of the power-assisted spring and a force arm of the power-assisted spring when the power-assisted spring outputs force; determining the stiffness coefficient range of the power-assisted spring based on the stroke parameter, the moment arm and the moment range of the power-assisted spring; and determining the specification of the power-assisted spring based on the stiffness coefficient range of the power-assisted spring.
Optionally, determining the specification of the assist spring based on the torque range of the assist spring comprises: selecting a target moment from the moment range of the power-assisted spring; acquiring a stroke parameter of the power-assisted spring and a force arm of the power-assisted spring when the power-assisted spring outputs force; determining a target stiffness coefficient of the power-assisted spring based on the stroke parameter, the moment arm and the target moment; the specification of the assist spring is determined based on a target stiffness coefficient of the assist spring.
Optionally, the first load is a rated load of the robot.
Optionally, before acquiring a second torque corresponding to a load generated by the first robot arm, the second robot arm, and the second load together when the assisting spring exerts the maximum force during the backward tilting of the robot arm, the method further includes: acquiring a third moment corresponding to a load jointly generated by the first mechanical arm and the second mechanical arm; and determining the second load based on the third moment, so that the sum of the third moment and the moment generated by the second load is smaller than a preset threshold value.
According to another aspect of the present application, there is provided a determining apparatus of a power spring of a robot. The robot includes the base, and the base is connected with first arm, and the one end that first arm is close to the base is connected with the output shaft of motor, and the output shaft of motor is used for providing power for first arm, and the one end that the base was kept away from to first arm is connected with the second arm, and the second arm is used for carrying the load, and the robot still includes helping hand spring, and helping hand spring's one end setting is on the base, and helping hand spring's the other end setting is on first arm, and the device includes: the first acquisition unit is used for acquiring the minimum torque of the motor for balancing the first mechanical arm, the second mechanical arm and the first load under the condition that the power-assisted spring does not work on the first mechanical arm; the second acquisition unit is used for acquiring a first torque corresponding to a load jointly generated by the first mechanical arm, the second mechanical arm and the first load under the condition that the force of the power-assisted spring is maximum in the forward extending posture of the mechanical arm, wherein the first torque is jointly balanced by the torque of the power-assisted spring and the torque of the motor; the third acquisition unit is used for acquiring a second torque corresponding to a load generated by the first mechanical arm, the second mechanical arm and the second load together under the condition that the force of the power spring is maximum in the backward-leaning posture of the mechanical arm, wherein the torque of the power spring is balanced by the second torque and the torque of the motor together; a first determination unit for determining a torque range of the assist spring based on a minimum torque of the motor, the first torque, and the second torque; a second determination unit for determining the specification of the assist spring based on the torque range of the assist spring.
According to another aspect of the embodiments of the present invention, there is also provided a non-volatile storage medium including a stored program, wherein the program controls a device in which the non-volatile storage medium is located when running to perform a method of determining a power spring of a robot.
According to another aspect of the embodiments of the present invention, there is also provided an electronic device, including a processor and a memory; the memory is stored with computer readable instructions, and the processor is used for executing the computer readable instructions, wherein the computer readable instructions execute a method for determining the power spring of the robot when running.
Through the application, the following steps are adopted: under the condition that the power-assisted spring does not work on the first mechanical arm, acquiring the minimum torque of a motor for balancing the first mechanical arm, the second mechanical arm and the first load; in the forward extending posture of the mechanical arm, under the condition that the output of the power-assisted spring is maximum, a first torque corresponding to a load generated by the first mechanical arm, the second mechanical arm and the first load together is obtained, wherein the first torque is balanced by the torque of the power-assisted spring and the torque of the motor together; in the backward-leaning posture of the mechanical arm, under the condition that the output of the power-assisted spring is maximum, a second torque corresponding to the load generated by the first mechanical arm, the second mechanical arm and the second load together is obtained, wherein the torque of the power-assisted spring is balanced by the second torque and the torque of the motor together; determining a torque range of the assist spring based on the minimum torque of the motor, the first torque, and the second torque; the specification of the power spring is determined based on the torque range of the power spring, and the problem that the proper power spring is difficult to determine for the mechanical arm of the two-axis robot in the related technology is solved. And then the effect of efficiently and accurately determining a proper power spring for the mechanical arm of the two-axis robot is achieved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
fig. 1 is a flowchart of a method for determining an assist spring of a robot according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of a first pose of a robot provided in accordance with an embodiment of the present application;
FIG. 3 is a schematic diagram of a second pose of a robot provided in accordance with embodiments of the present application;
FIG. 4 is a schematic diagram of a third pose of a robot provided in accordance with embodiments of the present application; and
fig. 5 is a schematic diagram of a determining device of an assist spring of a robot according to an embodiment of the present application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all 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 application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an embodiment of the present application, there is provided a method of determining a power spring of a robot.
Fig. 1 is a flowchart of a method of determining a power spring of a robot according to an embodiment of the present application.
The robot comprises a base, the base is connected with a first mechanical arm, one end, close to the base, of the first mechanical arm is connected with an output shaft of a motor, the output shaft of the motor is used for providing power for the first mechanical arm, one end, far away from the base, of the first mechanical arm is connected with a second mechanical arm, the second mechanical arm is used for carrying a load, the robot further comprises a power-assisted spring, one end of the power-assisted spring is arranged on the base, and the other end of the power-assisted spring is arranged on the first mechanical arm.
As shown in fig. 1, the method comprises the steps of:
step S101, under the condition that the power spring does not do work on the first mechanical arm, acquiring the minimum torque of the motor for balancing the first mechanical arm, the second mechanical arm and the first load.
As shown in fig. 2, the assistive spring is set to be a pressure spring, and when the assistive spring does not work on the first mechanical arm, that is, the assistive spring is in a zero position posture, the spring is at the longest point at this time, the spring has a certain amount of pre-compression, but does not work on the first mechanical arm, and the self weight of the robot and the first torque G0 corresponding to the total load of the load are completely balanced by the torque M generated by the motor.
It should be noted that, in order to ensure that the robot can be kept stable when the power spring is in the zero position posture, the maximum output torque of the motor must be greater than or equal to the torque generated by the self weight of the robot and the load on the lower joint of the first mechanical arm, that is, the torque of the motor must satisfy M ≧ G0.
Optionally, in the method for determining the assist spring of the robot provided in the embodiment of the present application, the first load is a rated load of the robot.
It should be noted that, when the robot carries a rated load, the condition that the torque of the motor needs to be satisfied is determined, and then the specification of the power spring is further determined, so that the spring with the selected specification can meet the rated load requirement.
Step S102, in the forward extending posture of the mechanical arm, under the condition that the output force of the power spring is maximum, a first torque corresponding to the load generated by the first mechanical arm, the second mechanical arm and the first load together is obtained, wherein the first torque is balanced by the torque of the power spring and the torque of the motor together.
As shown in fig. 3, when the assist spring exerts the largest force in the posture in which the robot arm is extended forward, that is, when the robot is in the limit posture in which the robot is extended forward, the robot weight and the torque Gmax corresponding to the total load generated by the load are resisted by the motor torque M plus the torque K generated by the spring.
It should be noted that, in order to ensure that the robot can keep stable in the forward-extending limit posture, the moment generated by the motor and the spring must be greater than or equal to the torque corresponding to the self weight of the robot and the total load generated by the load, that is, M + K is greater than or equal to Gmax.
Step S103, under the condition that the output force of the power spring is maximum in the backward-leaning posture of the mechanical arm, a second torque corresponding to the load generated by the first mechanical arm, the second mechanical arm and the second load together is obtained, wherein the torque of the power spring is balanced by the second torque and the torque of the motor together.
It should be noted that, when the force exerted by the assist spring is the largest in the backward-leaning posture of the robot arm, that is, the robot is in the backward-leaning limit posture, at this time, the motor torque M and the torque generated by the robot dead weight and the load are reversed, the spring force and the motor force are reversed, and the motor torque M and the torque generated by the robot dead weight and the load resist the spring moment K together.
It should be noted that, in order to ensure that the robot can move to the backward-leaning limit posture, it is necessary to ensure that the torque generated by the motor torque M, the robot dead weight and the load is greater than or equal to the spring torque K, that is, M + Gmin is greater than or equal to K.
Optionally, in the method for determining the assist spring of the robot provided in the embodiment of the present application, before acquiring a second torque corresponding to a load generated by the first robot arm, the second robot arm, and the second load together when the robot arm leans back to obtain a maximum output force of the assist spring, the method further includes: acquiring a third moment corresponding to a load jointly generated by the first mechanical arm and the second mechanical arm; and determining the second load based on the third moment, so that the sum of the third moment and the moment generated by the second load is smaller than a preset threshold value.
The method has the advantages that when the robot is in the backward-leaning limit posture, the torque M of the motor and the torque generated by the self weight of the robot and the load are reversed, the load can be adjusted manually, the torque Gmin generated by the self weight of the robot and the load is almost zero, and therefore a data basis is laid for subsequently determining the torque range of the spring.
And step S104, determining the torque range of the power-assisted spring based on the minimum torque of the motor, the first torque and the second torque.
It should be noted that in the embodiment of the present application, three different stressed conditions are selected from the two-axis motion range of the robot for stress analysis, and a relationship between the moment of the power spring, the torque of the motor, and the torque corresponding to the load generated by the self weight of the robot and the load in the ultimate stressed state of each condition is obtained, so that the moment range of the power spring can be calculated.
Optionally, in the method for determining the assist spring of the robot according to the embodiment of the present application, determining the torque range of the assist spring based on the minimum torque of the motor, the first torque, and the second torque includes: calculating the difference between the first torque and the minimum torque to obtain a first target torque; calculating the sum of the second torque and the minimum torque to obtain a second target torque; a torque range of the assist spring is determined based on the first target torque and the second target torque.
Specifically, G0 is determined by the robot, the minimum torque of the motor can be calculated by the condition that M is larger than or equal to G0, and the value range of K can be determined by the condition that Gmin-M is larger than or equal to K and smaller than or equal to M + Gmin because Gmin and Gmax are known items.
Optionally, in the method for determining the assist spring of the robot provided in the embodiment of the present application, before determining the torque range of the assist spring based on the first target torque and the second target torque, the method further includes: adjusting the minimum torque; calculating the difference between the first torque and the adjusted minimum torque to obtain an adjusted first target torque, wherein the adjusted first target torque is larger than the first target torque before adjustment; calculating the sum of the second torque and the adjusted minimum torque to obtain an adjusted second target torque, wherein the adjusted second target torque is smaller than the second target torque before adjustment; determining the torque range of the assist spring based on the first target torque and the second target torque includes: and determining the torque range of the power-assisted spring based on the adjusted first target torque and the adjusted second target torque.
It should be noted that the M value can be further adjusted, the value range of K is continuously reduced, the ideal value of K is approached, the selection range of the specification of the power spring is improved, the selection efficiency is improved, and meanwhile, the accurate value of M can be inversely proved in the process of adjusting the M value.
In step S105, the specification of the assist spring is determined based on the torque range of the assist spring.
Specifically, the torque range of the power spring is the value range of the maximum output of the spring, the specification parameters of the power spring are determined according to the value range of the maximum output of the spring, and the power spring meeting the specification parameters is the spring capable of meeting the load requirement of the robot.
According to the method for determining the power spring of the robot, provided by the embodiment of the application, the minimum torque of a motor for balancing the first mechanical arm, the second mechanical arm and the first load is obtained under the condition that the power spring does not do work on the first mechanical arm; in the forward extending posture of the mechanical arm, under the condition that the output of the power-assisted spring is maximum, a first torque corresponding to a load generated by the first mechanical arm, the second mechanical arm and the first load together is obtained, wherein the first torque is balanced by the torque of the power-assisted spring and the torque of the motor together; in the backward-leaning posture of the mechanical arm, under the condition that the output of the power-assisted spring is maximum, a second torque corresponding to the load generated by the first mechanical arm, the second mechanical arm and the second load together is obtained, wherein the torque of the power-assisted spring is balanced by the second torque and the torque of the motor together; determining a torque range of the assist spring based on the minimum torque of the motor, the first torque, and the second torque; the specification of the power spring is determined based on the torque range of the power spring, and the problem that the proper power spring is difficult to determine for the mechanical arm of the two-axis robot in the related technology is solved. And then the effect of efficiently and accurately determining a proper power spring for the mechanical arm of the two-axis robot is achieved.
Optionally, in the method for determining the assist spring of the robot according to the embodiment of the present application, determining the specification of the assist spring based on the torque range of the assist spring includes: acquiring a stroke parameter of the power-assisted spring and a force arm of the power-assisted spring when the power-assisted spring outputs force; determining the stiffness coefficient range of the power-assisted spring based on the stroke parameter, the moment arm and the moment range of the power-assisted spring; and determining the specification of the power-assisted spring based on the stiffness coefficient range of the power-assisted spring.
It should be noted that the moment arm of the robot when the power spring applies force under different postures may be determined, and the stroke of the spring may be determined, for example, when the power spring is a compression spring, the stroke parameter is the maximum length that the compression spring can compress, because the moment generated by the spring is the product of the elastic force and the moment arm, the elastic force range may be determined according to the determined moment arm and the moment range, and the elastic force of the spring is the product of the stroke and the stiffness coefficient, and the stiffness coefficient range may be determined according to the determined stroke and the elastic force range, further, a suitable specification of the power spring may be selected under the stiffness coefficient range.
Optionally, in the method for determining the assist spring of the robot according to the embodiment of the present application, determining the specification of the assist spring based on the torque range of the assist spring includes: selecting a target moment from the moment range of the power-assisted spring; acquiring a stroke parameter of the power-assisted spring and a force arm of the power-assisted spring when the power-assisted spring outputs force; determining a target stiffness coefficient of the power-assisted spring based on the stroke parameter, the moment arm and the target moment; the specification of the assist spring is determined based on a target stiffness coefficient of the assist spring.
It should be noted that, a target torque may be selected from the torque range of the assist spring to obtain a determined target stiffness coefficient, and the specification of the assist spring may be determined according to the target stiffness coefficient.
Through this application embodiment, select the helping hand spring of suitable specification, realized the rapid stabilization operation of robot, simultaneously, can select the motor that the moment of torsion is little under the prerequisite of guaranteeing the performance, realized the lightweight effect of robot structure, the effectual cost that has reduceed robot spare part.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
The embodiment of the present application further provides a device for determining a power spring of a robot, and it should be noted that the device for determining a power spring of a robot of the embodiment of the present application may be used to execute the method for determining a power spring of a robot provided in the embodiment of the present application. The following describes a determining apparatus for a power spring of a robot according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a determination device of an assist spring of a robot according to an embodiment of the present application.
The robot comprises a base, the base is connected with a first mechanical arm, one end, close to the base, of the first mechanical arm is connected with an output shaft of a motor, the output shaft of the motor is used for providing power for the first mechanical arm, one end, far away from the base, of the first mechanical arm is connected with a second mechanical arm, the second mechanical arm is used for carrying a load, the robot further comprises a power-assisted spring, one end of the power-assisted spring is arranged on the base, and the other end of the power-assisted spring is arranged on the first mechanical arm.
As shown in fig. 5, the apparatus includes: a first acquisition unit 10, a second acquisition unit 20, a third acquisition unit 30, a first determination unit 40 and a second determination unit 50.
Specifically, the first obtaining unit 10 is configured to obtain a minimum torque of the motor for balancing the first robot arm, the second robot arm, and the first load when the assist spring does not apply work to the first robot arm.
The second obtaining unit 20 is configured to obtain a first torque corresponding to a load generated by the first robot arm, the second robot arm, and the first load together when the assisting spring exerts the maximum force in the posture in which the robot arm extends forward, where the first torque is balanced by a torque of the assisting spring and a torque of the motor together.
The third obtaining unit 30 is configured to obtain a second torque corresponding to a load generated by the first robot arm, the second robot arm, and the second load together when the assisting spring exerts the maximum force in the backward-leaning posture of the robot arm, where the torque of the assisting spring is balanced by the second torque and the torque of the motor together.
A first determination unit 40 for determining a torque range of the assist spring based on the minimum torque of the motor, the first torque, and the second torque.
A second determination unit 50 for determining the specifications of the assist spring based on the torque range of the assist spring.
According to the device for determining the power spring of the robot, provided by the embodiment of the application, the first obtaining unit 10 obtains the minimum torque of the motor for balancing the first mechanical arm, the second mechanical arm and the first load under the condition that the power spring does not do work on the first mechanical arm; the second obtaining unit 20 obtains a first torque corresponding to a load generated by the first mechanical arm, the second mechanical arm and the first load together when the assisting spring exerts the maximum force in the forward-extending posture of the mechanical arm, wherein the first torque is balanced by the torque of the assisting spring and the torque of the motor together; the third obtaining unit 30 obtains a second torque corresponding to a load generated by the first robot arm, the second robot arm, and the second load together when the assisting spring is maximally exerted in the backward-leaning posture of the robot arm, wherein the torque of the assisting spring is balanced by the second torque and the torque of the motor together; the first determination unit 40 determines a torque range of the assist spring based on the minimum torque of the motor, the first torque, and the second torque; the second determining unit 50 determines the specification of the booster spring based on the torque range of the booster spring, solves the problem in the related art that it is difficult to determine a suitable booster spring for the robot arm of the two-axis robot, and further achieves the effect of efficiently and accurately determining a suitable booster spring for the robot arm of the two-axis robot.
Optionally, in the determination device for the assist spring of the robot provided in the embodiment of the present application, the first determination unit includes: the first calculation module is used for calculating the difference between the first torque and the minimum torque to obtain a first target torque; the second calculation module is used for calculating the sum of the second torque and the minimum torque to obtain a second target torque; the torque determination module is used for determining a torque range of the power-assisted spring based on the first target torque and the second target torque.
Optionally, in the device for determining a power spring of a robot provided in an embodiment of the present application, the device further includes: an adjusting unit for adjusting the minimum torque before determining a torque range of the assist spring based on the first target torque and the second target torque; the first calculation unit is used for calculating the difference between the first torque and the adjusted minimum torque to obtain an adjusted first target torque, wherein the adjusted first target torque is larger than the first target torque before adjustment; the second calculation unit is used for calculating the sum of the second torque and the adjusted minimum torque to obtain an adjusted second target torque, wherein the adjusted second target torque is smaller than the second target torque before adjustment; the first determination unit 40 is further configured to determine a torque range of the assist spring based on the adjusted first target torque and the adjusted second target torque.
Optionally, in the determination device for the assist spring of the robot provided in the embodiment of the present application, the second determination unit 50 includes: the first acquisition module is used for acquiring the stroke parameter of the power-assisted spring and the force arm of the power-assisted spring during force output; the second determination module is used for determining the stiffness coefficient range of the power-assisted spring based on the stroke parameter, the moment arm and the moment range of the power-assisted spring; and the third determination module is used for determining the specification of the power-assisted spring based on the stiffness coefficient range of the power-assisted spring.
Optionally, in the determination device for the assist spring of the robot provided in the embodiment of the present application, the second determination unit 50 includes: the selection module is used for selecting a target moment from the moment range of the power-assisted spring; the second acquisition module is used for acquiring the stroke parameter of the power-assisted spring and the force arm of the power-assisted spring during force output; the fourth determination module is used for determining a target stiffness coefficient of the power-assisted spring based on the stroke parameter, the moment arm and the target moment; and the fifth determining module is used for determining the specification of the power spring based on the target stiffness coefficient of the power spring.
Optionally, in the device for determining the assist spring of the robot provided in the embodiment of the present application, the first load is a rated load of the robot.
Optionally, in the device for determining a power spring of a robot provided in an embodiment of the present application, the device further includes: the fourth acquiring unit is used for acquiring a third moment corresponding to the load jointly generated by the first mechanical arm and the second mechanical arm before a second torque corresponding to the load jointly generated by the first mechanical arm, the second mechanical arm and the second load under the condition that the assisting spring has the maximum force in the process of backward leaning of the mechanical arms; and the third determining unit is used for determining the second load based on the third moment so that the sum of the third moment and the moment generated by the second load is smaller than a preset threshold value.
The device for determining the power spring of the robot comprises a processor and a memory, wherein the first acquiring unit 10, the second acquiring unit 20, the third acquiring unit 30, the first determining unit 40, the second determining unit 50 and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the problem that a proper power spring is difficult to determine for a mechanical arm of the two-axis robot in the related art is solved by adjusting the kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
The embodiment of the application also provides a nonvolatile storage medium, the nonvolatile storage medium comprises a stored program, and the program controls equipment where the nonvolatile storage medium is located to execute a determination method of the power-assisted spring of the robot when running.
The embodiment of the application also provides an electronic device, which comprises a processor and a memory; the memory is stored with computer readable instructions, and the processor is used for executing the computer readable instructions, wherein the computer readable instructions execute a method for determining the power spring of the robot when running. The electronic device herein may be a server, a PC, a PAD, a mobile phone, etc.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A method for determining a power spring of a robot is characterized in that the robot comprises a base, the base is connected with a first mechanical arm, one end, close to the base, of the first mechanical arm is connected with an output shaft of a motor, the output shaft of the motor is used for providing power for the first mechanical arm, one end, far away from the base, of the first mechanical arm is connected with a second mechanical arm, the second mechanical arm is used for carrying a load, the robot further comprises the power spring, one end of the power spring is arranged on the base, the other end of the power spring is arranged on the first mechanical arm, and the method comprises the following steps:
under the condition that the power-assisted spring does not work on the first mechanical arm, acquiring the minimum torque of the motor for balancing the first mechanical arm, the second mechanical arm and a first load;
in the forward extending posture of the mechanical arm, under the condition that the output force of the power spring is maximum, acquiring a first torque corresponding to a load generated by the first mechanical arm, the second mechanical arm and the first load together, wherein the first torque is balanced by the torque of the power spring and the torque of the motor together;
in the backward-leaning posture of the mechanical arm, under the condition that the output force of the power spring is maximum, a second torque corresponding to a load generated by the first mechanical arm, the second mechanical arm and a second load together is obtained, wherein the torque of the power spring is balanced by the second torque and the torque of the motor together;
determining a torque range of the assist spring based on a minimum torque of the motor, the first torque, and the second torque;
the booster spring is sized based on a torque range of the booster spring.
2. The method of claim 1, wherein determining the range of moments of the assist spring based on the minimum torque of the motor, the first torque, and the second torque comprises:
calculating the difference between the first torque and the minimum torque to obtain a first target torque;
calculating the sum of the second torque and the minimum torque to obtain a second target torque;
determining a torque range of the assist spring based on the first target torque and the second target torque.
3. The method of claim 2, wherein prior to determining the range of moments of the assist spring based on the first target torque and the second target torque, the method further comprises:
adjusting the minimum torque;
calculating the difference between the first torque and the adjusted minimum torque to obtain an adjusted first target torque, wherein the adjusted first target torque is larger than the first target torque before adjustment;
calculating the sum of the second torque and the adjusted minimum torque to obtain an adjusted second target torque, wherein the adjusted second target torque is smaller than the second target torque before adjustment;
determining the torque range of the assist spring based on the first target torque and the second target torque includes: determining a torque range of the assist spring based on the adjusted first target torque and the adjusted second target torque.
4. The method of claim 1, wherein determining the specification of the assist spring based on the torque range of the assist spring comprises:
acquiring a stroke parameter of the power-assisted spring and a force arm of the power-assisted spring during force application;
determining a stiffness coefficient range of the power-assisted spring based on the stroke parameter, the moment arm and a moment range of the power-assisted spring;
determining the specification of the power spring based on the stiffness coefficient range of the power spring.
5. The method of claim 1, wherein determining the specification of the assist spring based on the torque range of the assist spring comprises:
selecting a target moment from the moment range of the power-assisted spring;
acquiring a stroke parameter of the power-assisted spring and a force arm of the power-assisted spring during force application;
determining a target stiffness coefficient of the power spring based on the stroke parameter, the moment arm, and the target torque;
determining a specification of the assist spring based on a target stiffness coefficient of the assist spring.
6. The method of claim 1, wherein the first load is a rated load of the robot.
7. The method of claim 1, wherein before obtaining a second torque corresponding to a load generated by the first robot arm, the second robot arm, and a second load when the assist spring exerts the maximum force during the backward tilting of the robot arm, the method further comprises:
acquiring a third moment corresponding to a load jointly generated by the first mechanical arm and the second mechanical arm;
and determining the second load based on the third moment so that the sum of the third moment and the moment generated by the second load is smaller than a preset threshold value.
8. A device for determining a power spring of a robot is characterized in that the robot comprises a base, the base is connected with a first mechanical arm, one end, close to the base, of the first mechanical arm is connected with an output shaft of a motor, the output shaft of the motor is used for providing power for the first mechanical arm, one end, far away from the base, of the first mechanical arm is connected with a second mechanical arm, the second mechanical arm is used for carrying a load, the robot further comprises the power spring, one end of the power spring is arranged on the base, the other end of the power spring is arranged on the first mechanical arm, and the device comprises:
the first acquisition unit is used for acquiring the minimum torque of the motor for balancing the first mechanical arm, the second mechanical arm and a first load under the condition that the power-assisted spring does not work on the first mechanical arm;
a second obtaining unit, configured to obtain, in a posture in which the robot arm extends forward, a first torque corresponding to a load generated by the first robot arm, the second robot arm, and the first load together when the assistive spring exerts the maximum force, where the first torque is balanced by a torque of the assistive spring and a torque of the motor together;
a third obtaining unit, configured to obtain, in a backward-leaning posture of the robot arm, a second torque corresponding to a load generated by the first robot arm, the second robot arm, and a second load together when the output force of the assist spring is the maximum, where the torque of the assist spring is balanced by the second torque and the torque of the motor together;
a first determination unit for determining a torque range of the assist spring based on a minimum torque of the motor, the first torque, and the second torque;
a second determination unit for determining a specification of the assist spring based on a torque range of the assist spring.
9. A non-volatile storage medium, comprising a stored program, wherein the program when executed controls a device in which the non-volatile storage medium is located to perform the method for determining a power spring of a robot according to any one of claims 1 to 7.
10. An electronic device, comprising a processor and a memory, wherein the memory stores computer readable instructions, and the processor is configured to execute the computer readable instructions, wherein the computer readable instructions are executed to perform the method for determining the assist spring of the robot according to any one of claims 1 to 7.
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| CN202010617639.XA CN111702810B (en) | 2020-06-30 | 2020-06-30 | Method and device for determining power spring of robot |
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| CN202010617639.XA CN111702810B (en) | 2020-06-30 | 2020-06-30 | Method and device for determining power spring of robot |
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| GB2114536B (en) * | 1982-02-05 | 1985-07-17 | Mitsubishi Electric Corp | Multijoint manipulator |
| JPH0194634A (en) * | 1987-10-06 | 1989-04-13 | Mitsubishi Electric Corp | Robot hand |
| DE29800596U1 (en) * | 1998-01-15 | 1998-03-05 | Univ Magdeburg Tech | Device for reducing static moments in handling technology equipment |
| CN204585248U (en) * | 2015-02-05 | 2015-08-26 | 珠海格力电器股份有限公司 | A kind of robot and hanging wire assembly thereof |
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| CN111702810A (en) | 2020-09-25 |
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