CN112589832A - Method for determining maximum working torque of robot joint - Google Patents
Method for determining maximum working torque of robot joint Download PDFInfo
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- CN112589832A CN112589832A CN202011407186.4A CN202011407186A CN112589832A CN 112589832 A CN112589832 A CN 112589832A CN 202011407186 A CN202011407186 A CN 202011407186A CN 112589832 A CN112589832 A CN 112589832A
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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
- B25J19/0095—Means or methods for testing manipulators
Abstract
The invention discloses a method for determining the maximum working torque of a robot joint, which comprises the steps of respectively obtaining the maximum torque which can be output by a servo motor, the maximum torque which can be output by the servo motor under the temperature limiting condition, the maximum torque which can be output by the servo motor under the servo bus voltage limiting condition and the maximum torque which is allowed to be output by a speed reducer, and taking the minimum value of the four data as the maximum working torque of the robot joint. The technical scheme of the invention provides comprehensive consideration of the working states of the motor, the speed reducer and the servo, so that a more reasonable maximum torque threshold value is obtained, the effect of improving the reliability of the system is realized, and the service life of the system is greatly prolonged.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method for determining the maximum working torque of a robot joint.
Background
In practical applications of industrial robots, a threshold value of the maximum moment of a joint is usually limited, and under all working conditions, the joint force cannot exceed the threshold value, so that the maximum force of a system is prevented from being exceeded, and the system is prevented from being damaged. This threshold value for the maximum torque is generally the maximum operating torque of the motor. However, the robot system mainly comprises five parts, namely a connecting rod, a speed reducer, a motor, a servo and a controller. The connecting rod is of a mechanical structure, the design margin is generally large, the controller is not a limiting factor of the maximum moment of the robot, and the maximum output of the robot is limited by the three components of the speed reducer, the motor and the servo. Whether the speed reducer can bear the maximum torque input by the current motor, whether the motor can work to the nominal maximum torque, and whether the servo can provide enough energy to enable the motor to work at the maximum torque are all problems to be considered, but the maximum joint output of the robot is not limited to the maximum torque of the motor in a unified mode.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a method for determining the maximum working torque of a robot joint, which obtains a more reliable maximum torque threshold value by comprehensively considering the NT curve of a motor, the temperature of the motor, the acceleration and deceleration torque of a speed reducer, the servo bus voltage, the temperature of a servo power module and the working current of the servo power module, thereby improving the reliability of the system.
In order to achieve the technical effects, the invention adopts the following technical scheme:
a method of determining a maximum working torque of a robot joint, comprising:
determining a Map of a rotating speed and torque curve of a servo motor relative to temperature within a certain temperature range;
determining the maximum operating current I of a servo IGBT modulemaxObtaining a servo temperature current curve in a certain temperature range relative to a curve of the temperature of the servo radiator;
real-time acquisition of surface temperature T of servo motor in robot joint operation processcAnd the motor rotating speed n is used for determining the maximum torque T which can be output by the servo motor according to the Mapmax_M；
Sampling the temperature of a servo radiator in real time in the operation process of the robot joint, and determining the maximum working current I of the IGBT module according to the servo temperature current curvemax_s1And calculating the maximum torque T which can be output by the servo motor at the current temperaturemax_s1：
Tmax_s1＝KtImax_s1Wherein, K istIs a torque constant;
real-time acquisition of servo bus voltage U in robot joint operation processdcThe rotating speed n of the servo motor is calculated, and the maximum current I which can be output by the IGBT module under the current bus voltage is calculatedmax_s2；
Calculating the maximum torque T which can be output by the servo motor under the current bus voltagemax_s2：
Tmax_s2＝KtImax_s2Wherein, K istIs a torque constant;
determining the maximum torque T allowed to be output by the speed reducermax_r；
Get Tmax_M，Tmax_s1，Tmax_s2，Tmax_rThe minimum value is used as the maximum working torque of the robot joint;
in the method for determining the maximum working torque of the robot joint, the NT curve of the motor, the temperature of the motor, the acceleration and deceleration torque of the speed reducer, the bus voltage of the servo, the temperature of the IGBT module and the working current of the IGBT module are comprehensively considered, so that a more reliable maximum torque threshold value is obtained, and the purpose of improving the reliability of the system is achieved.
Further, a Map of the speed-torque curve of the servo motor relative to the temperature is obtained as follows:
respectively placing the servo motor in environment temperatures of m ℃, m + a ℃, m +2a ℃ and … n ℃, respectively measuring rotating speed torque curves of the servo motor at various temperatures through a loading test, and respectively recording the rotating speed torque curves as an NT curve of m ℃, an NT curve of m +2a ℃ and an NT curve of … n ℃; wherein n is ia + m, i and a are numbers greater than 0; wherein m, m + a, m +2a and … n all represent specific temperature values;
and obtaining a Map of the NT curve of the servo motor relative to the temperature by an interpolation mode according to the obtained rotating speed torque curves at the various temperatures.
Further, the servo temperature current curve is determined in the following manner:
the temperature of the servo radiator is obtained through experimentsThe maximum working current I of the IGBT module is m to n DEG CmaxCurve against servo radiator temperature.
Further, m is equal to 20, n is equal to 80; the allowable normal working temperature range of a general servo motor is a temperature environment lower than 80 ℃, and in practice, the temperature range of a specific experiment can be set according to actual conditions.
Further, a is greater than 0 and not greater than 5.
Further, calculating the maximum current I which can be output by the IGBT modulemax_s2The method adopts the approximate equivalence relation calculation between the bus voltage and the q-axis current after the q-axis current is stabilized during the maximum torque control, and the calculation formula is as follows:
wherein, UdcFor the bus voltage of the servo, RqIs the resistance of the servomotor, iqIs the q-axis current of the servo motor, P is the pole pair number,
is a flux linkage, n is a servo motor rotation speed, and Imax_s2＝iq。
Further, the maximum torque T allowed to be output by the speed reducermax_rDetermined by querying the reducer handbook.
Compared with the prior art, the invention has the following beneficial effects:
the method for determining the maximum working torque of the robot joint provided by the invention has the advantages that the maximum torque of the robot joint is limited to the maximum torque of the motor, the working states of the motor, the speed reducer and the servo are comprehensively considered, so that a more reasonable maximum torque threshold value is obtained.
Drawings
Fig. 1 is a schematic flow chart of a method for determining the maximum working torque of a robot joint according to the invention.
Detailed Description
The invention will be further elucidated and described with reference to the embodiments of the invention described hereinafter.
Example (b):
the first embodiment is as follows:
as shown in fig. 1, a method for determining a maximum working torque of a robot joint specifically includes the following steps:
step 1, placing a servo motor in an environment temperature of 20 ℃, and measuring a rotating speed torque curve (hereinafter referred to as NT curve of the motor) of the servo motor through a loading test, wherein the rotating speed torque curve is recorded as NT curve @20 ℃;
step 2, placing the servo motor in an environment temperature of 25 ℃, and measuring an NT curve of the servo motor through a loading test, wherein the NT curve is recorded as NT curve @25 ℃;
and 3, respectively obtaining the NT curves of the motor with the environment temperature from 20 ℃ to 80 ℃ by analogy, and respectively recording the NT curves as NT curve @20 ℃, NT curve @25 ℃ and … … NT curve @80 ℃.
And 4, obtaining a Map of the NT curve of the servo motor relative to the temperature in an interpolation mode.
Step 5, obtaining the maximum working current I of the servo IGBT module under the condition that the temperature of the servo radiator is from 20 ℃ to 80 ℃ through experimental correctionmaxThe curve relating to the temperature of the servo radiator is hereinafter referred to as a servo temperature current curve.
Step 6, acquiring the surface temperature T of the servo motor in real time in the operation process of the robot jointcAnd the motor rotating speed n, and determining the maximum torque T which can be output by the servo motor according to the Map obtained in the step 4max_M。
Step 7, sampling the temperature of the servo radiator in real time in the operation process of the robot joint, and determining the maximum working current I of the IGBT module according to the servo temperature current curve obtained in the step 5max_s1And calculating the servo motor function at the current temperatureMaximum torque T capable of being outputmax_s1：
Tmax_s1＝KtImax_s1Wherein, K istIs a torque constant.
Step 8, collecting the servo bus voltage U in real time in the operation process of the robot jointdcThe rotating speed n of the servo motor is calculated, and the maximum current I which can be output by the IGBT module under the current bus voltage is calculatedmax_s2。
Specifically, in this embodiment, the maximum current I that can be output by the IGBT module at the bus voltage is obtained by specifically bringing the rotation speed n into 1max_s2：
The equation is the approximate equality relationship that exists between the bus voltage and the q-axis current after the q-axis current is stabilized with maximum torque control, where UdcFor the bus voltage of the servo, RqIs the resistance of the servomotor, iqIs the q-axis current of the servo motor, P is the pole pair number,
is a flux linkage, n is a servo motor rotation speed, and Imax_s2＝iq。
Step 9, calculating the maximum torque T which can be output by the servo motor under the current bus voltagemax_s2：
Tmax_s2＝KtImax_s2Wherein, K istIs a torque constant.
Step 10, determining the maximum torque T allowed to be output by the speed reducer by inquiring a speed reducer manualmax_r。
Step 11, adding Tmax_M、Tmax_s1、Tmax_s2、Tmax_rMaximum torque T allowed by the calculation systemmax：
Tmax＝min(Tmax_M，Tmax_s1，Tmax_s2，Tmax_r)
Get T promptlymax_M，Tmax_s1，Tmax_s2，Tmax_rAnd taking the minimum value as the maximum working torque of the robot joint. Wherein, Tmax_MFor the maximum torque that the servomotor can output, Tmax_s1For the maximum torque, T, that the servomotor can output under temperature-limited conditionsmax_s2Maximum torque, T, that can be output by the servo motor under the limited condition of the servo bus voltagemax_rThe maximum torque allowed to be output by the speed reducer.
In summary, in the method for determining the maximum working torque of the robot joint of the present invention, a method for uniformly limiting the maximum torque of the robot joint to the maximum torque of the motor is provided, and the working states of the motor, the speed reducer and the servo are comprehensively considered, so as to obtain a more reasonable maximum torque threshold, specifically, the NT curve of the motor, the temperature of the motor, the acceleration and deceleration torque of the speed reducer, the servo bus voltage, the temperature of the servo power module and the working current of the servo power module need to be comprehensively considered, so as to obtain a more reliable maximum torque threshold, thereby achieving the purposes of improving the reliability of the system and prolonging the service life of the system.
Example two
The embodiment discloses a computer device which can be a server and comprises a processor, a memory, a network interface and a database which are connected through a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data involved in the method for determining the maximum working torque of the robot joint. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of determining a maximum working torque of a robot joint.
In another embodiment, a computer device is provided, which includes a memory, a processor and a computer program stored on the memory and executable on the processor, and the processor executes the computer program to implement the steps of the method for determining the maximum working torque of the robot joint in the first embodiment. To avoid repetition, further description is omitted here.
In another embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for determining a maximum working torque of a robot joint according to the first embodiment. To avoid repetition, further description is omitted here.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (7)
1. A method of determining a maximum working torque of a robot joint, comprising:
determining a Map of a rotating speed and torque curve of a servo motor relative to temperature within a certain temperature range;
determining the maximum operating current I of a servo IGBT modulemaxObtaining a servo temperature current curve in a certain temperature range relative to a curve of the temperature of the servo radiator;
real-time acquisition of surface temperature T of servo motor in robot joint operation processcAnd the motor rotating speed n is used for determining the maximum torque T which can be output by the servo motor according to the Mapmax_M；
Sampling the temperature of a servo radiator in real time in the operation process of the robot joint, and determining the maximum working current I of the IGBT module according to the servo temperature current curvemax_s1And calculating the maximum torque T which can be output by the servo motor at the current temperaturemax_s1：
Tmax_s1＝KtImax_s1Wherein, K istIs a torque constant;
real-time acquisition of servo bus voltage U in robot joint operation processdcThe rotating speed n of the servo motor is calculated, and the maximum current I which can be output by the IGBT module under the current bus voltage is calculatedmax_s2；
Calculating the maximum torque T which can be output by the servo motor under the current bus voltagemax_s2：
Tmax_s2＝KtImax_s2Wherein, K istIs a torque constant;
determining the maximum torque T allowed to be output by the speed reducermax_r；
Get Tmax_M，Tmax_s1，Tmax_s2，Tmax_rAnd taking the minimum value as the maximum working torque of the robot joint.
2. The method for determining the maximum working torque of the robot joint according to claim 1, wherein the Map of the speed-torque curve of the servo motor with respect to the temperature is obtained as follows:
respectively placing the servo motor in environment temperatures of m ℃, m + a ℃, m +2a ℃ and n ℃, respectively measuring rotating speed torque curves of the servo motor at various temperatures through a loading test, and respectively recording the rotating speed torque curves as NT curves of m ℃, m +2a ℃ and n ℃;
and obtaining a Map of the NT curve of the servo motor relative to the temperature by an interpolation mode according to the obtained rotating speed torque curves at the various temperatures.
3. A method for determining the maximum working torque of a robot joint as claimed in claim 2, characterized in that a is greater than 0 and not greater than 5.
4. A method for determining the maximum working torque of a robot joint according to claim 2, characterized in that the servo temperature current curve is determined in the following way:
the maximum working current I of the IGBT module is obtained through experiments when the temperature of the servo radiator ranges from m ℃ to n DEG CmaxCurve against servo radiator temperature.
5. A method for determining the maximum working torque of a robot joint according to claim 4, characterised in that m equals 20 and n equals 80.
6. The method for determining the maximum working torque of the robot joint as claimed in claim 1, wherein the maximum current I that can be output by the IGBT module is calculatedmax_s2The calculation formula adopted is as follows:
wherein, UdcFor the bus voltage of the servo, RqIs the resistance of the servomotor, iqIs the q-axis current of the servo motor, P is the pole pair number,
is a flux linkage, n is a servo motor rotation speed, and Imax_s2＝iq。
7. Method for determining the maximum working moment of a robot joint according to any one of claims 1 to 6, characterized in that the maximum moment T that the reducer allows to output is the maximum moment Tmax_rIs determined by querying the reducer manual.
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| CN114407014A (en) * | 2022-01-25 | 2022-04-29 | 达闼机器人股份有限公司 | Control method and device for robot actuator, medium, equipment and robot |
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Address after: 610000 No. 42, Huatai Road, Chenghua District, Chengdu, Sichuan Applicant after: Chengdu kanop Robot Technology Co.,Ltd. Address before: No.199, Huaguan Road, Longtan Industrial Park, Chenghua District, Chengdu, Sichuan 610000 Applicant before: CHENGDU CRP AUTOMATION CONTROL TECHNOLOGY Co.,Ltd. |
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