CN112923953B - Robot motor positioning method - Google Patents
Robot motor positioning method Download PDFInfo
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- CN112923953B CN112923953B CN202110116814.1A CN202110116814A CN112923953B CN 112923953 B CN112923953 B CN 112923953B CN 202110116814 A CN202110116814 A CN 202110116814A CN 112923953 B CN112923953 B CN 112923953B
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000006698 induction Effects 0.000 claims description 12
- 238000009413 insulation Methods 0.000 claims description 5
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 230000009977 dual effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
Abstract
The invention provides a positioning method of a robot motor, which comprises the steps of arranging a first absolute position encoder at the tail end of a motor rotor shaft; the tail end of the rotor shaft is also connected with a gear set for speed reduction, and a second absolute position encoder is arranged at the top of a gear outside the gear set; when the motor is powered on, simultaneously acquiring an angle value a of the first encoder and an angle value b of the second encoder; equally dividing 360 degrees into 6 intervals, and judging the specific interval of the value b; when the value b is between the middle values of the two intervals, judging that the value b falls into the previous interval or the next interval; calculating a real angle value c, wherein the real angle value c is an interval value multiplied by the encoder precision + value a of the value b; and substituting the real angle value c into a control algorithm of the robot motor to obtain the absolute position of the current motor output end.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot motor positioning method.
Background
The existing foot robot or mechanical arm motor is internally provided with a planetary reducer, so that the speed/displacement difference exists between the output end of the reducer and a motor rotor.
At present, a single absolute position coding algorithm is generally adopted by a robot motor. Take a Haitai electromechanical HT-03 motor as an example: the magnetic sheet is connected to the tail end of the motor rotor shaft, a Hall magnetic induction chip is mounted on a circuit board 1mm above the magnetic sheet, the Hall magnetic induction chip is an absolute position encoder of the motor, and the angular position of the motor rotor is resolved in real time by directly reading data of the chip.
However, since the robot motor built-in 1: and 6, the motor rotor rotates for 6 circles, and the output end of the motor rotates for 1 circle. This results in an absolute position encoder mounted on the motor rotor reporting an identical datum for every 60 degrees of rotation of the motor output. The same sensor reading is obtained for 6 positions of one motor revolution.
The robot may not correctly acquire the absolute position of the output end of the speed reducer during power-on initialization due to the above reasons, and may not set the angle exactly in the middle of the range of the specified angle due to the limitation of the fastening component during the installation of the motor, thereby causing the robot to operate erroneously, and possibly causing serious consequences such as hardware damage.
Therefore, how to avoid the occurrence of accidents caused by position misjudgment when the robot motor is started becomes a technical problem which is continuously solved at present.
Disclosure of Invention
In order to solve the problems, the invention provides a positioning method of a robot motor, which solves the technical problem that the robot motor is in accident due to position misjudgment during starting by using a dual absolute position encoder algorithm, and avoids the operation that the robot needs to reset the motor during starting or closing.
In order to achieve the purpose, the invention provides the following specific technical scheme:
the application provides a positioning method of a robot motor, which comprises the following steps:
arranging a first insulation position encoder at the tail end of a motor rotor shaft;
the tail end of the rotor shaft is also connected with a gear set for speed reduction, and a second absolute position encoder is arranged at the top of a gear outside the gear set;
when the motor is powered on, simultaneously acquiring an angle value a of the first encoder and an angle value b of the second encoder;
equally dividing 360 degrees into 6 intervals, and judging the specific interval of the value b;
when the value b is between the middle values of the two intervals, judging that the value b falls into the previous interval or the next interval;
calculating a real angle value c, wherein the real angle value c is an interval value multiplied by the encoder precision + value a of the value b;
and substituting the real angle value c into a control algorithm of the robot motor to obtain the absolute position of the current motor output end.
Preferably, the first absolute position encoder and the second absolute position encoder are both MA702 encoders, and include magnetic sheets and hall magnetic induction chips.
Preferably, an end gear is fixedly mounted at the tail end of the motor rotor shaft, and the magnetic sheet of the first absolute position encoder is arranged at the tail end of the end gear; the upper portion of tip gear is equipped with the circuit board, the hall magnetic induction chip of first absolute position encoder is located in the circuit board with the position that the magnetic sheet is relative.
Preferably, the gear set is provided with a first gear matched with the end gear, and a second gear coaxial with the first gear is matched with a third gear; the magnetic sheet of the second absolute position encoder is arranged at the top of the third gear, and the Hall magnetic induction chip of the second absolute position encoder is arranged at the position, opposite to the magnetic sheet, in the circuit board.
Preferably, the gear ratio of the end gear to the first gear is 18: 36, the gear ratio of the second gear to the third gear is 12: 36.
preferably, the magnetic sheet of the first absolute position encoder and the magnetic sheet of the second absolute position encoder are located on the same horizontal plane.
Preferably, 360 degrees are divided into 6 intervals [0,1,2,3,4,5] on average, and the calculated value b falls into a specific interval of the 6 intervals.
Preferably, when the value b is between the middle values of the two intervals, the value a is used for judging, and if the value a is greater than 180 degrees, the value b falls into the next interval; if the value a is less than 180 degrees, the value b falls into the previous interval.
Preferably, the accuracy of the MA702 encoder is 4096, and the real angle value c is the interval value of b × 4096+ value a.
The invention has the advantages that the positioning method of the robot motor is provided, based on the redesigned robot motor structure and the mutual matching of the two absolute position encoders, the problem of inaccurate absolute position of the robot motor can be solved through the algorithm of the double absolute position encoders, and the occurrence of dangerous accidents caused by misjudgment of the position when the robot motor is powered on and started is prevented; the initial position of the motor can be flexibly set, so that the motor does not have a unique motor position origin; the operation that the robot needs to reset the motor when starting or shutting down is avoided.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
FIG. 1 is a schematic diagram of a robot motor according to a preferred embodiment of the present application;
fig. 2 is a schematic axial side view of a robot motor with an upper cover and a circuit board removed according to a preferred embodiment of the present application.
Detailed Description
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 some, but not all, embodiments of the present application. 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.
The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
It is to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
The terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and "upright," and the like, refer to an orientation or positional relationship that is based on the orientation or positional relationship shown in the drawings, which are used for convenience in describing and simplifying the present invention, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
The embodiment of the application provides a positioning method of a robot motor, which solves the technical problem that the robot motor is in accident due to position misjudgment when being started by using a dual absolute position encoder algorithm, and avoids the operation that the robot needs to reset the motor when being started or closed.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1-2, there are shown schematic structural views of a robot motor in a preferred embodiment of the present application, and at the closed end of the motor, the robot motor comprises a stator 2 of the motor, a rotor 3 located inside, a circuit board 5 and an upper cover 4 at the closed end.
A rotor shaft 1 is fixedly arranged through the central line of the rotor 3, an end gear 6 is fixedly arranged at the tail end of the rotor shaft 1, the end gear 6 is further connected with a gear set for speed reduction, the gear set is provided with a first gear 7 matched with the end gear 6, and a second gear 8 coaxial with the first gear 7 is matched with a third gear 9. Specifically, the gear ratio of the end gear 6 to the first gear 7 is 18: 36, the gear ratio of the second gear 8 to the third gear 9 is 12: 36.
furthermore, a first insulation position encoder is arranged on the upper portion of the end gear 6, the first insulation position encoder comprises a magnetic sheet 10 arranged at the tail end of the end gear 6, the first insulation position encoder further comprises a hall magnetic induction chip 11 arranged on the circuit board 5, and the position of the hall magnetic induction chip 11 on the circuit board 5 corresponds to the magnetic sheet 10.
Furthermore, a second absolute position encoder is arranged on the upper portion of the third gear 9, the second absolute position encoder comprises a magnetic sheet 12 arranged on the second absolute position encoder on the top of the third gear 9, and the hall magnetic induction chip 13 is arranged on the circuit board 5, and the position of the hall magnetic induction chip 13 on the circuit board 5 corresponds to the magnetic sheet 12.
Specifically, the first absolute position encoder and the second absolute position encoder are both MA702 encoders with the same accuracy, and the magnetic sheet 10 of the first absolute position encoder and the magnetic sheet 12 of the second absolute position encoder are located at the same horizontal plane.
The positioning method of the robot motor in the application comprises the following steps:
when the motor is powered on, simultaneously acquiring an angle value a of the first encoder and an angle value b of the second encoder;
equally dividing 360 degrees into 6 intervals [0,1,2,3,4,5], and judging the specific interval in which the 360 degrees fall according to the value b;
when the value b is between the middle values of the two intervals, the value a is used for judging, and if the value a is larger than 180 degrees, the value b falls into the next interval; if the value a is less than 180 degrees, the value b falls into the previous interval;
calculating a real angle value c, wherein the real angle value c is an interval value of a value b multiplied by an encoder precision + value a, and since the precision of the MA702 encoder is 4096, which means that the magnetic sheet rotates once, the MA702 obtains 4096 position values, and thus the real angle value c is an interval value of a value b multiplied by 4096+ value a;
and substituting the real angle value c into a control algorithm of the robot motor to obtain the absolute position of the current motor output end.
Specifically, the values of the value a and the value b are between 0 and 4095, and when the value a is 3000 and the value b is 3000, the range of the value b is as follows: 3000/(4096/6) ═ 4.39, this value b lies in 4 intervals, namely interval value is 4; and c is 4 multiplied by 4096+3000 multiplied by 19384, the value c is substituted for the original value a and is brought into the control algorithm of the robot motor, and the absolute position of the current motor output end can be obtained.
Compared with the prior art, the beneficial effect of this application lies in:
the positioning method of the robot motor is provided, based on a redesigned robot motor structure and the mutual matching of two absolute position encoders, the problem of inaccurate absolute position of the robot motor can be solved through the algorithm of the dual absolute position encoders, and compared with a common robot motor (taking Haitai HT03 as an example), the method can prevent dangerous accidents caused by misjudgment of the position when the robot motor is powered on and started; the initial position of the motor can be flexibly set, so that the motor does not have a unique motor position origin; the operation that the robot needs to reset the motor when starting or shutting down is avoided.
The foregoing description shows and describes several preferred embodiments of the application, but as aforementioned, it is to be understood that the application is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the application as expressed herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the application, which is to be protected by the claims appended hereto.
Claims (9)
1. A method of positioning a robot motor, the method comprising:
arranging a first insulation position encoder at the tail end of a motor rotor shaft;
the tail end of the rotor shaft is also connected with a gear set for speed reduction, and a second absolute position encoder is arranged at the top of a gear outside the gear set;
when the motor is powered on, simultaneously acquiring an angle value a of the first absolute position encoder and an angle value b of the second absolute position encoder;
equally dividing 360 degrees into 6 intervals, and judging the specific interval of the value b;
when the value b is between the middle values of the two intervals, judging that the value b falls into the previous interval or the next interval;
calculating a true angle value c, the true angle value c = interval value of value b x encoder precision + value a;
and substituting the real angle value c into a control algorithm of the robot motor to obtain the absolute position of the current motor output end.
2. The method as claimed in claim 1, wherein the first absolute position encoder and the second absolute position encoder are both MA702 encoders including magnetic sheets and hall magnetic induction chips.
3. The method as claimed in claim 2, wherein an end gear is fixedly installed at a distal end of the rotor shaft of the motor, and the magnetic sheet of the first absolute position encoder is disposed at a distal end of the end gear; the upper portion of tip gear is equipped with the circuit board, the hall magnetic induction chip of first absolute position encoder is located in the circuit board with the position that the magnetic sheet is relative.
4. The method of claim 3, wherein the gear set includes a first gear, a second gear, and a third gear, the first gear being engaged with the end gear, the second gear being coaxial with the first gear, and the third gear being engaged with the second gear; the magnetic sheet of the second absolute position encoder is arranged at the top of the third gear, and the Hall magnetic induction chip of the second absolute position encoder is arranged at the position, opposite to the magnetic sheet, in the circuit board.
5. The method according to claim 4, wherein a gear ratio of the end gear to the first gear is 18: 36, the gear ratio of the second gear to the third gear is 12: 36.
6. a method according to claim 5, wherein the magnetic sheet of the first absolute position encoder and the magnetic sheet of the second absolute position encoder are located on the same horizontal plane.
7. The method according to claim 6, wherein the 360 degrees are divided into 6 sections [0,1,2,3,4,5] on average, and the calculated value b falls within a specific one of the 6 sections.
8. The method according to claim 7, wherein when the value b is between the middle values of the two intervals, the value a is used for judgment, and if the value a is greater than 180 degrees, the value b falls into the next interval; if the value a is less than 180 degrees, the value b falls into the previous interval.
9. A method of positioning a robot motor according to claim 8, characterized in that the accuracy of the MA702 encoder is 4096, the true angle value c = interval value of value b x 4096+ value a.
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| CN202110116814.1A CN112923953B (en) | 2021-01-28 | 2021-01-28 | Robot motor positioning method |
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| CN202110116814.1A CN112923953B (en) | 2021-01-28 | 2021-01-28 | Robot motor positioning method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113890429A (en) * | 2021-10-29 | 2022-01-04 | 广东工业大学 | Hall element-based motor reducer absolute angle fitting system and fitting method |
| CN117425547A (en) * | 2022-05-19 | 2024-01-19 | 北京小米机器人技术有限公司 | Motor, robot and position measurement method of output end of motor |
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