Method and device for detecting motion states of robot joints

Abstract

The invention relates to the technical field of automatic detection, and provides a method and a device for detecting motion states of robot joints. The method comprises the following steps: detecting a circle center coordinate of an inertia loading unit, a coordinate of a tail end and a coordinate of the tail end after rating of standard inertia M through the inertia loading unit; separately calculating a theoretical value and an actual value of a strain signal acquisition unit in a signal acquisition module according to the coordinate of the tail end and the circle center coordinate; and controlling motion of detected joints according to instructions of an upper computer, and recording torques Tn of different motion moments in movement processes of the detected joints so as to determine the motion states of the detected joints according to the torques. Through the detection method provided by the invention, the stress states of collaborative robot joints at every moment can be accurately measured, and through calculation of a formula, the real dynamic motion properties of the joints can be acquired, and deviation of the instructions input by a driver can be contrasted by utilizing the calculated real-time motion properties of the joints, so that the actual performance of the joints can be quickly judged.

Description

technical field [0001] The invention relates to the technical field of automatic detection, in particular to a method and a device for detecting the motion state of a robot joint. Background technique [0002] At present, robots have been widely used in auto parts, metal processing, food, medicine, chemical and nuclear industries, etc. In these industries, the human-machine collaborative production method has been recognized as the most suitable form of robots for large-scale promotion. Among them, the human-machine collaborative robot is mainly composed of multiple sets of joints and structural skeletons. The robot joint is an important part of the human-machine collaborative robot, and the performance of its products usually determines the accuracy of the entire robot. However, the high-speed joints will generate large residual vibration, which is reflected in the accumulation of multiple joint vibrations at the end of the manipulator, which causes great difficulties for t...

AI Technical Summary

Problems solved by technology

[0004] The main purpose of the present invention is to provide a detection method and device for the motion state of the robot joints, so as to solve the problem that the existing detection methods cannot obtain the instantaneous motion state of the joints and cannot reflect the real motion characteristics of the robot joints.

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