The invention provides a
hybrid drive
robot joint and a working method, relates to the field of robots, and aims to solve the problems of joint return errors,
system vibration and dynamic precision reduction caused by transmission backlash of a precision speed
reducer in existing
robot joint drive. The first motor and the main driving unit of the RV speed
reducer are combined with the compensation unit of the
torque motor, so that the output shaft is simultaneously subjected to the synergistic effect of
hybrid driving, and the
torque motor outputs real-time controllable reverse compensation torque, so that gears in the RV speed
reducer are always kept in tight engagement, the transmission backlash is effectively eliminated, and the service life of the RV speed reducer is prolonged. Compared with a traditional mechanical pre-tightening method, the defect that the
compensation effect is attenuated due to long-term operation is overcome, stability and effectiveness can be kept in the whole process through a compensation mechanism of a
torque motor, the transmission precision and position consistency are improved, the rigidity and dynamic response performance of
robot joints are improved, vibration and track disturbance in the movement process are reduced, and the reliability is improved. And the robot is more stable and reliable in performance when executing work such as precise
assembly and high-precision positioning.